Yes, I have many times. It's a chore in patience my friend!

Best practices with wolfs/boars on a boat....
1. Keep the animal directly in front of you whenever you can. Easier with tamed wolves of course (make them follow you, but keep them in front of you).
2. Try to make as little turns as possible, or turn very slowly.
3. Sometimes half speed or oar speed is best, especially if it is stormy, they like to fall off on the big waves, more so if you are going fast.
4. Always bring at least 4 animals, there is a good chance you will get to your destination with 2 for breeding. Bring 6 if it's gonna be a long journey.
5. Avoid all mobs so only go close to shore when needed. Also, serpents will agro wolves, etc. so there is a chance they will go overboard trying to chase or flee.
6. Brew some tasty mead to pass the time away.

Good luck!

(edited - added #5 above)