Question. It is normal to say drive a boat?
My father was a sea captain for his entire life and never used the word drive. I also grew up around fishermen and being onboard when they were in port,them like my dad used the word steer or captain.
I never hear anyone say "Who was captain?" or "Who was steering?" "Captain" seems to imply a title, and "steering" sounds like you just took the wheel for a moment.
That may be different for people who spend a lot of time on commercial boats. When I've been in formal settings, say on a police boat while doing search and rescue work, we will talk about the person who is filling the role of captain. But we still say that person is "driving" the boat.