I encounter a similar crash. The console log is the same as yours. However, my crash has nothing to do with NavigationBar.
When I tap WKWebView in my app, it crashes immediately.
If I look at the console, the log is
Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'Invalid parameter not satisfying: targetNode'
and Xcode says that it crashes at UIGestureGraphEdge.m:25
I managed to find a workaround for my crash.
I created WKWebView in +(void)load so that I can just call addSubView in viewDidLoad. This works well in iOS 9 but causes crash in iOS 10.
My solution is that I dispatch_after 1s the creation of WKWebView and bingo, crashes disappear!