最终采用方法4
第一种暂未发现其他机型有问题，所以结合MIUI判断逻辑较为合适

1. 通过Insets检测是否有左/右滑动手势区域

/**
 * 检测发现 MIUI 所有情况下 left、right 均为0
 */
fun hasLeftGesture(insets: WindowInsetsCompat): Boolean {
    val inset = insets.getInsets(WindowInsetsCompat.Type.systemGestures())
    return inset.left > 0
}

2. 通过系统固定值判断 0 三键; 1 双键；2 手势；

/**
 * 实测 荣耀 70 MagicUI 6.1 ，小米10 MIUI 13 全为 0
 */
fun isGestureNav(): Boolean {
    val resources: Resources = Resources.getSystem()
    return try {
        val resourceId =
            resources.getIdentifier("config_navBarInteractionMode", "integer", "android")
        if (resourceId > 0) {
            resources.getInteger(resourceId) == 2
        } else false
    } catch (e: Exception) {
        false
    }
}

3. 通过像素高度判断

实测高度差不太多，无法判断
比如MagicUI，手势导航：108，按钮导航 ：114

4. 结合Insets与MIUI判断

val isMIUI: Boolean by lazy {
    !TextUtils.isEmpty(getSystemProperty("ro.miui.ui.version.name"))
}
private fun isGestureNav(insets: WindowInsetsCompat): Boolean {
    if (AppUtils.isMIUI) {
        val miNavBarMode =
            Settings.Global.getInt(Utils.getApp().contentResolver, "force_fsg_nav_bar", 0)
        return miNavBarMode != 0
    }
    val inset = insets.getInsets(WindowInsetsCompat.Type.systemGestures())
    return inset.left > 0
}

private fun getSystemProperty(propName: String): String? {
    return try {
        val p = Runtime.getRuntime().exec("getprop $propName")
        BufferedReader(InputStreamReader(p.inputStream), 1024).use {
            it.readLine()
        }
    } catch (_: Exception) {
        return null
    }
}