This steering and guidance technique, for submarines, torpedos and other ships, is an outgrowth of a motion-based simulator theater. See https://www.hineslab.com/floating-simulator-theater/

In the motion-based theater, propellers circulate water through mutually-perpendicular propulsion tubes to create back pressure to move the theater to pitch, roll and yaw (a trick reverse engineered from the human inner ear).

Circular pipes (for each of pitch, roll and yaw) made of modular propulsion tubes with propellers. The back pressure to the hull is proportional to the number of circular pipes (the more the better to increase back pressure). Imagine 2-3 firefighters holding onto a high-pressure nozzle to fight a fire.

The steering of the submarine can be simplified using mutually-perpendicular propulsion tubes. The absence of rudder and hydrofoils eliminates two of the three sources of cavitation, which gives away the location of the submarine to the enemy. I am offering this technique for license to entertainment companies (including Universal, Disney, MSG (that built The Sphere theater in Las Vegas)), and to the Navy and submarine-engineering companies including General Dynamics, Northrop Grumman, Raytheon, etc.).