If they’re that deep then they need to be autonomous because I don’t think there’s any way to reliably get a signal sub marine.
For shorter distances, there are acoustic and optical devices, and near surface some low frequency radios can be used.
https://en.m.wikipedia.org/wiki/Communication_with_submarine...
And it apparently bears repeating: communication with a submarine using VLF/ELF is one-way. Such is not the case with a spacecraft, even if the latency sucks.
So, not in any way an answer to the problem of controlling deep drone submarines?