How to modify the Action Drawer of Navigation Drawer Activity?

If you need to edit the ActionBar text, do it in the following way:

  

manifests-> AndroidManifest.xml

    <activity
        android:name=".MainActivity"
        android:label="Texto que se mostrará en el actionBar" />

• To edit browser content:

  

res-> layout- > nav_header_main.xml

• To add or edit browser menus:

  

res-> menu- > activity_main_drawer.xml

You can create groups and within this, items that will be the menus that will be displayed.

For example:

<group android:checkableBehavior="single">
    <item
        android:id="@+id/nav_home"
        android:title="@string/home" />

    <item
        android:id="@+id/nav_register"
        android:title="@string/register_nav" />

    <item
        android:id="@+id/nav_foods"
        android:title="@string/food" />
</group>

To modify the content of the activity:

  

res-> layout- > content_main.xml

For more information: Creating a navigation side panel

Well finally I have been able to solve it, in this link they solve it in previous versions and some do not work but the one that proposes to create a custom Drawable from the code and then measure it to the ActionBarToggle itself dedse the code is the best solution.

//////HAMBURUGESA//////
    //Nos creamos nuestro Icono drawable personalizado
    Drawable burger = ResourcesCompat.getDrawable(getResources(), R.mipmap.cart_icon_pink_round, this.getTheme()); //Le pasamos el mipmap pero estamos creando drwaable no nos da problemas de momento
    //Instanciamos el Layout del Drawer
    final DrawerLayout drawer = (DrawerLayout) findViewById(R.id.drawer_layout);
    //Instanciamos y construimos el ActionBarDrawerToggle
    ActionBarDrawerToggle toggle = new ActionBarDrawerToggle(
            this, drawer, toolbar, R.string.navigation_drawer_open, R.string.navigation_drawer_close);
    toggle.setDrawerIndicatorEnabled(false);// Hay que decirle que deshabilite el burger actual
    toggle.setHomeAsUpIndicator(burger); //Le indico cual va a ser el Drawable que utilizará para sacar y meter el navigator
    //Creamos un listener especial él.
    toggle.setToolbarNavigationClickListener(new View.OnClickListener() {
        @Override
        public void onClick(View v) {
            if (drawer.isDrawerVisible(GravityCompat.START)) {
                drawer.closeDrawer(GravityCompat.START);
            } else {
                drawer.openDrawer(GravityCompat.START);
            }
        }
    });


    toggle.syncState();
    ////FIN HAMBURGUESA ////

I also leave here the reference link where I finally clarified all my doubts, in case someone is curious or has the same problem in the future. Greetings and thanks to all who participated. link