They have the same problem in FL with abandoned boats. However, as I heard it, once the local authorities tag a vessel as abandoned (big orange sticker) then it is fair game for anyone who wants it. Of course, by the time any given boat is tagged as abandoned it is usually in such a state that no one wants it anyway.
There is a spot on the ICW just south of the cruise port in FLL that seems to be a drop point for these sorts of boats.
Don't go by what you heard, unless you want to risk prison. Here is a section on FL derelict vessels. https://myfwc.com/boating/waterway/derelict-vessels/
If it has been marked by the state, it's undergoing a criminal investigation. You may then claim it only with the approval of the investigating officer. In general, however, you must report a derelict vessel and pay for an investigation. If the owner isn't found, the state may then transfer it to the finder. The finder can then make application to the state to have the title transferred to their name. The process generally takes at least 45 days and may take 6 months. It costs from $300 to $600 or more.
Once the title is in your name, you may and must remove it as you're now legal owner and fully responsible for everything.
Not a simple process and easy to violate the law.