Straight line swimming override?

[TacoTechnica]

Your Idea

If baritone is telling the bot to swim forward more than 5 blocks or so, engage swim mode right above the water and travel in a straight line.

Consider a "clear swim path" to be a path that has water and air above it, no obstructions.

If there are more than 5 "clear swim paths" in front and they are all on a baritone path, engage swim mode.

Figure out how to get like a "gradient" from baritone, and try to make the bot align itself with that gradient (PD loop??)

At this rate you can also consider whether the same idea can be applied to boats.