I have an Android app that requires the Navigation Bar to work. How can I hide this app on the Play Store for users that have a device with hardware navigation keys?
There are no <uses-feature> elements or <uses-configuration> elements that allow you to filter on the existence of off-screen affordances for HOME and back, at least that I can see.
Hence, other than manually identifying devices that you want to support, and manually limiting distribution to them in the Play Store, I do not see another way to handle your request.
The point behind something like immersive mode is for it to be used on all devices, albeit with differing effects depending on device characteristics.