I found ideas from the Navigation Drawer Views Activity template. I basically just copied what's in there except for the nav_graph of course. So basically, every screen you have needs to be in a fragment so you can put it inside a fragment as that's how this whole Navigation system works.
As I mentioned above on my question, I was going to put the ViewPager in a Fragment which I didn't completely know was the right move initially was actually what I needed. The only changes that I have to do was transfer some of my code in Activitys to Fragments so I can easily add them on the nav_graph. Then after that was kinda simple. I tried to have multiple nav_graphs then one main nav_graph that included does small ones, but doesn't seem to work. So I just combined them in the end. Here's what my final nav_graph looks like:
<?xml version="1.0" encoding="utf-8"?>
<navigation xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto"
xmlns:tools="http://schemas.android.com/tools"
android:id="@+id/main_nav_graph"
app:startDestination="@+id/monitoring_fragment">
<!--monitoring-->
<fragment
android:id="@+id/monitoring_fragment"
android:name="com.example.app.MonitoringFragment"
android:label="@string/monitoring"
tools:layout="@layout/fragment_monitoring">
<action
android:id="@+id/showActuatorInfoDetails"
app:destination="@id/actuatorInfoWithUpdatesFragment" />
<action
android:id="@+id/showSensorReadingDetails"
app:destination="@id/sensorReadingDetailsFragment" />
</fragment>
<fragment
android:id="@+id/actuatorInfoWithUpdatesFragment"
android:name="com.example.app.ActuatorInfoDetailsFragment"
android:label="@string/actuator_details"
tools:layout="@layout/fragment_actuator_info_details">
<argument
android:name="actuator_info"
app:argType="com.example.app.models.api.ActuatorDeviceInfo" />
</fragment>
<fragment
android:id="@+id/sensorReadingDetailsFragment"
android:name="com.example.app.SensorReadingDetailsFragment"
android:label="@string/sensor_details"
tools:layout="@layout/fragment_sensor_reading_details">
<argument
android:name="sensor_reading"
app:argType="com.example.app.models.misc.SensorReading" />
</fragment>
<!--user_mgmt-->
<fragment
android:id="@+id/login_fragment"
android:name="com.example.app.fragments.user_mgmt.LoginFragment"
android:label="@string/login"
tools:layout="@layout/fragment_login">
<action
android:id="@+id/action_loginFragment_to_userManagementFragment"
app:destination="@id/userManagementFragment" />
</fragment>
<fragment
android:id="@+id/userManagementFragment"
android:name="com.example.app.fragments.user_mgmt.UserManagementFragment"
android:label="@string/user_mgmt"
tools:layout="@layout/fragment_user_management" />
</navigation>
What's kinda weird that I realized in the end, it seems like that I actually need to have the same id for the MenuItem that corresponds to the module and the id for starting "routes" in the nav_graph. Android Studio detects this and I have to accept a Dialog that popped up mentioning the fact. Here's my final menu for the drawer:
<?xml version="1.0" encoding="utf-8"?>
<menu xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
tools:showIn="navigation_view">
<group android:checkableBehavior="single">
<item
android:id="@+id/monitoring_fragment"
android:title="@string/drawer_menu_monitoring" />
<item
android:id="@+id/login_fragment"
android:title="@string/drawer_menu_user_mgmt" />
</group>
</menu>
And that's it