I'm not sure what happened, but I think multiple things happened here.

First, towards the end of the quest "Girl Who Lost The Sea," where we rescue Lara from that island, I boarded the raft and watched the cutscene as I rowed towards the Magnus. But for some reason, it dropped me in the sea maybe about 20m away from the raft. I swam back to the raft so I could row towards the Magnus, but I got stuck in a buggy animation where it showed me climbing the raft, but I would slip off and immediately fall back in, and repeat this animation. Nothing I did would stop this, even if I moved away from the raft onto the island.

I'm not really sure how to reproduce this, but I experience similar animation sync problems (or whatever it actually is) when I try to mount a horse using the interact key, and immediately try to open my map. I will hear the "error" sound and get a message something like "Please wait and try again." I close the map and I often see my character attempting to ride the horse, but instead takes a step, gets stuck on something, stops, and makes that frustrated hands-on-hips animation. However, this usually resolves itself after a few animation cycles or if my character mounts the horse.

Using the ESC menu "Retry" function did not properly reset the quest; I went through all the steps again, but I could not talk to Lara or board the raft at the end. Using the "Return to Magnus" option did not work properly either. I noticed I still had the Lara doll in my Magnus inventory during all this, which I could not delete.

In the end, I used the "Escape Abyss One" option, and forfeited the quest. I'm not sure which, or if both of these steps are needed. This removed the Lara doll and I was able to re-enter the Magnus and finally finish this step.

Try forfeit quest Escape. Then talk with Lara again

Helped for me

I forfeited both and now it works, pretty sure you only have to forfeit the Escape quest but i did both to be safe, thank you aiww for the comment