I was able to reproduce the issue and have attached a video of it. The axolotl might have been turning towards the player as it got in the boat, making it continue turning after entering, but I'm not sure. It took me a few dozen attempts to get it to happen.
Also occurs in 1.17 Pre-release 1.
The new (flowering) azalea and moss carpets are affected too, although the moss carpet may be working as intended according to MC-204072. New screenshot attached.
In 1.17 Pre-release 2, items are still affected by this bug but arrows no longer constantly make a sound while in lava.