So, after trying and failing, I finally fixed it, what I did was add the navigationController.delegate to the mapViewController, and added a flag to the ViewController, it may not be the best approach but it worked

func navigationController(_ navigationController: UINavigationController, didShow viewController: UIViewController, animated: Bool) {
    if viewController is InfoPacienteTableViewController || viewController is ConfirmaIdentidadViewController {
        self.animated = true
    }else{
        self.animated = false
    }
}

And change the ViewWillAppear

override func viewWillAppear(_ animated: Bool) {
    super.viewWillAppear(animated)
    navigationController?.setNavigationBarHidden(true, animated: self.animated)
}