I just switch to have my logo use .svg as a file. I added the plugin Safe SVG and uploaded my SVG logo.
The default logo looks very slick now but when I scroll on Safari it shrinks to 50% width and then becomes normal but it also appears to use an image after instead of the vector fonts.
The 2 states of the navigation bar doesn’t seem to be using the same logo. The other one uses SVG while the sticky logo uses a PNG version.
Make sure you use the exact same file for both the logo in Appearance > Customize > Site identity and Appearance > Customize > Layout > Sticky Navigation.