Solved by adding postup to the action in mobile_navigation.xml

    <fragment
        android:id="@+id/nav_home"
        android:name="com.navtest.ui.home.HomeFragment"
        android:label="fragment_home"
        tools:layout="@layout/fragment_home" >
        <action
            android:id="@+id/action_nav_home_to_nav_gallery"
            app:destination="@id/nav_gallery"
            app:launchSingleTop="true"
            app:popUpTo="@id/nav_home"
            app:popUpToInclusive="true" />
    </fragment>

I share it because I was not able to find the solution anywhere.