Here's how you can do it in your Activity's onCreate method:
NavigationView navigationView = findViewById(R.id.nav_view);
ColorStateList csl = new ColorStateList(
new int[][] {
new int[] {-android.R.attr.state_checked}, // unchecked
new int[] { android.R.attr.state_checked} // checked
},
new int[] {
Color.BLACK,
Color.RED
}
);
navigationView.setItemTextColor(csl);
navigationView.setItemIconTintList(csl);