It's never made sense to me that Steve (and any other mob for that matter) can swim just fine with only his toes in the water. Also, that Steve (and other mobs) sink at the same rate no matter how much of his body is in the water. He sinks the same whether he is completely submerged or only touching with his toes.
My suggestion is very simple.
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Steve can only swim if he is halfway submerged in water (up to his torso-ish), unless he is touching a solid block, in which case he can use it to get more height. This allows Steve to a) look less ridiculous while swimming, and b) still be able to get out of the water.
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How fast an entity sinks depends on how much of it is in the water. I would have it be that an entity sinks slower the more it is submerged in water (more water = more drag). Current sinking speed is when the entity is 100% submerged, and it transitions smoothly to 0 drag (same as falling through air) when the entity is less than 10% submerged.
All in all, if the entity is fully submerged, the swimming experience isn't altered at all. But if it is only partly submerged, it behaves more realistically.
A quick note before I finish. Currently, it is possible to activate elytra from the surface of water with a bit of skill. I am aware that this suggestion makes that no longer possible, but I don't think it's that big of a deal. Correct me if I'm wrong.
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