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As you imagined ... here's the exposure control

You need to choose Aperture or Shutter Priority. You don't leave both in auto.

Not necessarily ... setting the exposure compensation appropriately can handle that for you.

An ND filter won't do anything to help you get good stills of whales and definitely won't reduce glare. All it would do is cut light uniformly, forcing a slower shutter speed and/or higher ISO, neither of which is desirable for what you want to...

If you are relying on obstacle avoidance to prevent damage, you are asking for trouble. And since your OA can't work in the dark, that crash is down to the way you are flying. Flying close to obstacles is risky and requires extra care. Better...