<How to create a custom navigation drawer selected...

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How to create a custom navigation drawer selected item background in Android Studio?
I'm trying to achieve something similar to this image, where the selected navigation drawer item has a rounded rectangular background, but I can't seem to find the code that does this. This is from Android Studio's pre-made "Navigation Drawer" Activity.

https://i.stack.imgur.com/hGMoF.png▾

For reference, here's what the default drawer selected item background looks like.

https://i.stack.imgur.com/IBy0A.png▾

I...