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You may need to download the code and change this line, then build your own RViz.

https://github.com/ros-visualization/rviz/blob/melodic-devel/src/rviz/default_plugin/tf_display.cpp#L570

frame->axes_->setToDefaultColors();
frame->name_text_->setColor(Ogre::ColourValue::White); // <--
frame->parent_arrow_->setHeadColor(ARROW_HEAD_COLOR);
frame->parent_arrow_->setShaftColor(ARROW_SHAFT_COLOR);

Line number can be different based on your ROS distro. You'll be needing the version of source code that was used to supply your distro's binaries.

You may need to download the code and change this line, then build your own RViz.

RViz: https://github.com/ros-visualization/rviz/blob/melodic-devel/src/rviz/default_plugin/tf_display.cpp#L570

frame->axes_->setToDefaultColors();
frame->name_text_->setColor(Ogre::ColourValue::White); // <--
frame->parent_arrow_->setHeadColor(ARROW_HEAD_COLOR);
frame->parent_arrow_->setShaftColor(ARROW_SHAFT_COLOR);

Line number can be different based on your ROS distro. You'll be needing the version of source code that was used to supply your distro's binaries.