Have the navbar set to autohide when apps are open, there's no need at all to have the navbar always showing. This also bypasses false activations of icon swipe gestures on the homescreen. If you just want to return home, then you can hard press the home button area to activate it since the home button is built into the display itself. You can also press home button then swipe left or right to switch apps or go back.
The navbar being over the dock icons is a non issue, since it's only on show for a few seconds and once you click a button or whatever, it hides again. At least this way there is a choice, Pixel owners have no such choice, they are stuck with the navbar always on show.
The alternative is not to have such a bright wallpaper really. Dark shades always look better on AMOLED