But dont imagine metal humanoids swimming frog-like underwater.
They will probably be simple, triangular wedges.
Plutois one example of a likely ocean world.

Microbes can feed off this chemical energy, and can in turn be eaten by larger organisms.
No sunlight or atmosphere is actually needed.
A vent on the floor of the northeast Pacific.

A bed of tube worms feeding on chemosynthetic microbes covers the base.
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This is in contrast to the largely radioactive heating of the Earths interior.
But the chemistry of the water-rock interactions is similar.
Conceptual impression, not to scale.
Once there, it would release up to about four dozen 12cm long, wedge-shaped micro-swimmers to go exploring.

Independent micro-swimmers, deployed from a probe that has penetrated the ice crust of a moon.
The study will trial prototypes in a test tank with all subsystems integrated.
But at this stage, nothing is ruled out.

I think finding signs of hydrothermal vents is a long shot, however.
The ocean floor would, after all, be many kilometres below the micro-swimmers release point.
But, to be fair, pinpointing vents is not explicitly suggested in the Swim proposal.

To locate and examine the vents themselves, we probably do need Boaty McBoatface inspace.
That said, Swim would be a good start.
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