I would playfully predict it would be at least two years down the line before we need to even think about steering a kayak and I can think of at least one way of doing it.
We make the kayak a piece of clothing. I know this has issues with collision with other kayaks but not with the environment.
Also in real life if you have ever been in a kayak you would know you use your knees and feet to wedge yourself into the boat so that it behaves as if it's an extension of your hips. Just as we steer a maintainer suit we could steer a kayak.