Despite using a warped fungus on a stick, I cannot get the advancement "This boat has legs." It also doesn't show up on the advancement map (L), but does show up on the /advancement list.
The dimension I do it in, whether I'm in lava, and my game mode, don't factor in.
/advancement is the only way I can get the advancement.
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Have you right clicked the warped fungus on a stick? It gives the advancement when you are riding and right click it. This can be a bug as it doesn't say what you need to do.