It was Navarro who made the brighter start, earning a break point in the opening game of the match after two double faults by Gauff in a sign of things to come.
Gauff recovered to hold, but some loose shots at 3-2 gave Navarro another break opportunity, and Gauff conceded with another double fault.
As Navarro secured the set, confidently holding to love after coming out on top of a 27-shot rally, a frustrated Gauff shrugged her shoulders and exchanged words with her coaching team.
Double faults continued to plague Gauff’s performance in the second set. Another at 3-3 offered Navarro a chance to break, which she took with a superb, dipping forehand winner down the line.
But this would signal a change in momentum as, sensing she was closing in on victory, Navarro suddenly struggled for rhythm, and Gauff immediately broke back.
Backed by the packed crowd, Gauff confidently held serve before breaking again to force a decider, cupping her ear in celebration and asking the crowd for more noise.
With the match evenly poised, it was the 20-year-old’s troubles on serve which would again prove the difference, with three double faults in a single game handing Navarro the break for a 2-1 lead.
Gauff’s remaining service games were punctuated by more errors, with three more double faults gifting a match point to Navarro, before a long forehand confirmed Navarro’s win.
“I fought really hard today. I just didn’t take care of my serve, so that was the biggest difference,” Gauff said.
“Mentally and emotionally I gave it my all. Of course, there were things execution-wise, where I wish I could serve better.
“I think if I would did that, it would have been a different story for me in the match.”