I’ve previously posted about the OAK-D-Lite, although the OAK-1 might be a better fit for your spec. They can both do 4k60, and are ML/AI capable but don’t come with any particular algorithm built in, and aren’t waterproof (so would need to be used inside an enclosure). OAK-D-Lite can do stereo depth, but has a lower quality camera than OAK-1, so OAK-1 would have better low-light performance. That said, they’re not optimised/primarily intended for underwater/low-light use, and the smaller physical pixel size does mean they won’t have as good low light performance as the IMX322 sensor used in both the Blue Robotics Low-Light Camera, and this topic’s one (exploreHD) from Deep Water Exploration.
I would note that while OAK-1 and OAK-D can do 4K60, they’re intended to be operated with a USB-3 interface, so to get that resolution you may need to use an RPi4 (since RPi3 only USB-2 ports). That said, because the cameras are intended for user control you should be able to set up a 1080p30 stream and just zoom in on areas of interest, either manually or with an ML algorithm that detects interesting stuff and zooms in to it, and in that case you can likely get away with using a USB-2 interface.