Find all default before to click Refactor -> Refactor to AndroidX
Open this https://developer.android.com/jetpack/androidx/migrate/class-mappings and find "android.support.v4.widget.DrawerLayout". In same line AndroidX class name is "androidx.drawerlayout.widget.DrawerLayout" copy it.
Replace all "android.support.v4.widget.DrawerLayout" to "androidx.drawerlayout.widget.DrawerLayout" in your project"s code, layout and menu. After all replace it will work.