In the top bar go to Edit > Preferences > Viewport and set 3D Viewport Axis to Interactive Navigation. :-)

In the top bar, go to Edit > Preferences > Viewport and in the Display section, set the drop-down menu 3D Viewport Axis to Interactive Navigation. :-)

(There is also an option to show & hide the Zoom, Pan and Camera icons. Go to Edit > Preferences > Interface and in the Editors section, tick the [X] Navigation Controls checkbox.)