Given that propellers are moved by shafts connected to motors within the body, wouldn’t the interface of these shafts with the shell of the vehicle be a weak point? How do they waterproof and pressure proof those joints?
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Submarines and submersibles are different categories of underwater vehicle.
In submarines, propulsion machinery is inside the pressure vessel. Submarine propellor shafts are sealed with stronger versions of the same kinds of shaft seals that ships use.
With submersibles, propulsion machinery and batteries are outside the passenger pressure vessel. Other than hatches and portholes, only electrical connections and (on some kinds) a manual ballast release permeate the pressure hull.
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