useNavigation() is a React hook. Hooks only work inside React components that are rendered inside a navigator. But App.tsx is not a screen, it’s your root component, so there’s no navigation context there. That’s why React Navigation throws.
I think you should use navigationRef for this case. (standard practice)
Here is code attached:
create RootNavigation.ts :

import { createNavigationContainerRef } from '@react-navigation/native';

export const navigationRef = createNavigationContainerRef();

export function navigate(name: string, params?: object) {
  if (navigationRef.isReady()) {
    navigationRef.navigate(name as never, params as never);
  }
}

Attach ref to your NavigationContainer :

import { NavigationContainer } from '@react-navigation/native';
import { navigationRef } from './RootNavigation';

export default function App() {
  return (
    <NavigationContainer ref={navigationRef}>
      {/* your Stack.Navigator / Tab.Navigator goes here */}
    </NavigationContainer>
  );
}

Use navigate in Centrifugo callback:

import { Centrifuge } from 'centrifuge';
import Toast from 'react-native-toast-message';
import { navigate } from './RootNavigation';

useEffect(() => {
  const centrifuge = new Centrifuge("wss://centrifugo.xxxxx.xxxxxx/connection/websocket", {
    token: "xxxxxxxxxxxxxxxxxxxx"
  });

  centrifuge.on('connected', ctx => {
    console.log(`centrifuge connected over ${ctx.transport}`);
  }).connect();

  const sub = centrifuge.newSubscription("xxxxx", {
    token: 'xxxxxxxxxxxxxxxxxxxx'
  });

  sub.on('publication', ctx => {
    Toast.show({
      type: "success",
      text1: ctx.data['message']
    });
    navigate('DetailHistory', {
      id: ctx.data['transaction_id']
    });
  }).subscribe();

  return () => {
    centrifuge.disconnect();
    console.log('Centrifuge client disconnected on cleanup.');
  };
}, []);

Hope this fixes your problem.
THANK YOU !