I beat this problem by removing any text from android: title.
NavigationView:
<android.support.design.widget.NavigationView
android:id="@+id/nav_view"
android:layout_width="wrap_content"
android:layout_height="match_parent"
android:layout_gravity="start"
android:fitsSystemWindows="true"
app:headerLayout="@layout/nav_header_main"
app:menu="@menu/activity_main_drawer" />
(activity_main_drawer):
<?xml version="1.0" encoding="utf-8"?>
<menu xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:app="http://schemas.android.com/apk/res-auto">
<group android:checkableBehavior="single">
<item android:id="@+id/nav_item1"
app:showAsAction="always"
android:title=""
app:actionLayout="@layout/menu_item_layout" />
</group>
</menu>
menu_item_layout:
<?xml version="1.0" encoding="utf-8"?>
<RelativeLayout
xmlns:android="http://schemas.android.com/apk/res/android"
android:layout_width="match_parent"
android:layout_height="match_parent">
<TextView android:id="@+id/item_text"
android:layout_width="match_parent"
android:layout_height="match_parent"
android:gravity="center_vertical"
android:text="Item text" />
</RelativeLayout>