Navigation Bar Keeps turning white

I have the same problem, for weeks I was trying to figure out what was causing it and finally figured out. Basically anytime you use the multitasking meaning you open two apps on your screen and then close out of the multitasking by using a hand gesture by swiping down from the middle to the bottom of the screen then the navigation bar turns white and stays White. The way to prevent this is exiting the multitasking by hitting the middle and hitting the X instead of using the hand gesture. I hope this was helpful.
 
Was getting pissed off by the number of times per day that I had to restart the phone and redo some stuff, because I use substratum as well. Will try this method and hopefully the issue will be resolved.

High time Samsung fixed this. Been there from the time I bought the phone
 
I have the same problem, for weeks I was trying to figure out what was causing it and finally figured out. Basically anytime you use the multitasking meaning you open two apps on your screen and then close out of the multitasking by using a hand gesture by swiping down from the middle to the bottom of the screen then the navigation bar turns white and stays White. The way to prevent this is exiting the multitasking by hitting the middle and hitting the X instead of using the hand gesture. I hope this was helpful.
I agree with your finding. That's the cause.
 
Used Nova, Action Launcher and Stock launcher. In all 3, my navigation bar don't turns white for light theme and black for dark theme. Restarting the phone resolves it for some time.

It's completely random.
I don't think it's random
Happens to me on s8 after I use the split screen feature.
Hope they are going to fix it.