A big difference is that these wings lift the main body out of that medium (water) into a much less dense one (air), hugely decreasing resistance.
And yes, this doesn’t lift the boat completely out of the water, but airplanes do not get completely out of the medium they use (air), either.
So the 'wheels on the ground' don't have anything to do with flight (though technically they are also in the air). Flight takes place in a medium. For a plane that is only one medium unless you're looking at a flying boat at take-off, for a sailing vessel there are two, there is the water (dense, slow to push out of the way so high drag) and the air (much less dense, so faster to push out of the way, much lower drag).
The fact that they got it to work is interesting in a way because given the lack of hull length the two surfaces controlling the pitch are right next to each other.
A traditional boat relies on buoyancy to keep it away from the murky depths, while these boats rely on buoyancy only when at rest or going slowly. After that, once the foils take over, they are genuinely flying in that no buoyancy is involved.
But then again, does the word really matter? People refer to “flying” in hot air balloons, too.