For the first Google response I found, this "solution" is pretty trashcan. The solution is that the functionality was removed, and alternatives need to be found.
I found that if you go into the navigation bar setting and then turn off gesture hints it works
My screener of this page shows no navigation icons. Its great not to have them. I've just gotten used to using gestures to navigate. I still wish the orininal option was available. Silly to remove it. Most people like it so why take it away from them? It's about making clients happy right?
Not *Really* an auto hide as buttons Do Not appear, even with gesture. Also the swipe may invoke app instead of bar button when app has controls on bottom.