So, from what I can see there are a lot of VR Submarine combat or ocean exploration games, but the more realistic submarine simulators are harder to come across. The Navy seems to have a submarine simulator, but they don't list the application publicly: https://www.netc.navy.mil/Media-Center/Videos/videoid/961445/dvpmoduleid/Commands/Naval-Service-Training-Command/
There is always the solution of grabbing a high-quality 3D model of a real submarine, and then place it into a VR CAD program, or any VR game engine including: Unity, Unreal, Godot, CurioXR, and, of course, Resonite.