如何在ActionbarDrawerToggle中设置退格键来导航到之前的片段？

dependencies {
    implementation "androidx.navigation:navigation-fragment-ktx:2.3.5"
    implementation "androidx.navigation:navigation-ui-ktx:2.3.5"
}

class MainActivity : AppCompatActivity() {

    private lateinit var drawerToggle: ActionBarDrawerToggle

    override fun onCreate(savedInstanceState: Bundle?) {
        super.onCreate(savedInstanceState)
        setContentView(R.layout.activity_main)

        val toolbar = findViewById<Toolbar>(R.id.toolbar)
        setSupportActionBar(toolbar)

        val drawerLayout = findViewById<DrawerLayout>(R.id.drawer_layout)
        drawerToggle = ActionBarDrawerToggle(this, drawerLayout, toolbar, R.string.navigation_drawer_open, R.string.navigation_drawer_close)
        drawerLayout.addDrawerListener(drawerToggle)
        drawerToggle.syncState()

        supportActionBar?.setDisplayHomeAsUpEnabled(true)
        supportActionBar?.setHomeButtonEnabled(true)
    }

    override fun onOptionsItemSelected(item: MenuItem): Boolean {
        return when (item.itemId) {
            android.R.id.home -> {
                drawerLayout.openDrawer(GravityCompat.START)
                true
            }
            else -> super.onOptionsItemSelected(item)
        }
    }
}

override fun onBackPressed() {
    if (drawerLayout.isDrawerOpen(GravityCompat.START)) {
        drawerLayout.closeDrawer(GravityCompat.START)
    } else {
        findNavController(R.id.nav_host_fragment).navigateUp()
    }
}