I've seen some reports that navigation gestures were working in Nova Launcher but I've been using the stock launcher recently so I haven't tried for myself. Since gestures were changed by Google for Android 10 many custom launchers might not be compatible yet. The only phones running stable Android 10 are Pixels and the Essential PH-1 so there are probably lots of apps whose code hasn't been updated yet.
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Nova has a message which says navigation gestures arent fully supported in Android 10 yet, which is an Android issue, likely to be fixed in Android 10.1
