If you add a subview to the navigation bar, then it will just stay there; the navigation controller doesn't know to do anything special with it. You say your custom view has "some titles" - have you tried doing this instead?
self.navigationItem.titleView = _navbarView;
Then the navigation controller knows that the view should be used in place of your controller's title, and it should animate in and out.
If that doesn't work, you'll need to look at becoming the navigation controller's delegate. Since iOS7, this can get quite complex.