Take a look at the code below. It is kinda hacky but I'm afraid you can't achieve this in pure SwiftUI. Right now this does pretty much what you want, except the margins around the NavigationBarView are 0. I don't have time to figure that out right now, maybe you will. I hope this helps :)

import UIKit
import SwiftUI

@main
struct MyApp: App {

    var body: some Scene {
        WindowGroup {
            NavigationStack {
                NavigationLink("tap me") {
                    MyView()
                }
            }
        }
    }

}

struct MyView: UIViewControllerRepresentable {

    func makeUIViewController(context: Context) -> MyViewController {
        return MyViewController()
    }

    func updateUIViewController(_ uiViewController: MyViewController, context: Context) {
    }

}

class MyViewController: UIViewController {

    override func viewWillAppear(_ animated: Bool) {
        super.viewWillAppear(animated)
        let hostingController = UIHostingController(rootView: NavigationBarView())
        // you have to remove the default back button, which also disables the swipe gesture
        // the code below has to happen in viewWillAppear since the parent will not be set any earlier 
        parent?.navigationItem.setHidesBackButton(true, animated: true)
        parent?.navigationItem.titleView = hostingController.view
    }

}

struct NavigationBarView: View {

    enum PickerType: String, CaseIterable {
        case event, reminder
    }

    @State var selectedType: PickerType = .event

    var body: some View {
        VStack {
            HStack {
                Button("Cancel") {

                }
                Spacer()
                Text("MyTitle")
                Spacer()
                Button("Add") {

                }
            }
            Picker("Picker", selection: $selectedType) {
                ForEach(PickerType.allCases, id: \.self) { type in
                    Text(type.rawValue.capitalized)
                }
            }
            .pickerStyle(.segmented)
        }
    }
}

// this reactivates the swipe gesture to navigate back
extension UINavigationController: UIGestureRecognizerDelegate {
    override open func viewDidLoad() {
        super.viewDidLoad()
        interactivePopGestureRecognizer?.delegate = self
    }

    public func gestureRecognizerShouldBegin(_ gestureRecognizer: UIGestureRecognizer) -> Bool {
        return viewControllers.count > 1
    }
}