This happened to me last week, but I recently saw a YT video where it happened to them as well. During the battle I was unable to spawn back in and instead I could hear everything, my avatar would be standing on the ship but I had no control. Not until some cannon fire killed me on the deck and I appeared on the Ferry did it fix it for me. In the YT video they sailed out of the Skeletal ship battle to fix it for them.
Reloading the game did not help since I did that 3 times before being killed fixed it for me.