Maneuverability in soft bio-inspired underwater robots, particularly for following complex trajectories, remains an unsolved challenge. In this work, we present a control approach based on a PD controller integrated with real-time camera feedback, enabling continuous and reliable free-swimming control. The system was able to maintain precise waypoint tracking for 60 minutes and more, with a minimum turning radius of 27 cm, demonstrating the robot’s high maneuverability relative to its body size. Our contributions include the development of a robust camera-based tracking system, the tuning of a PD controller to enhance trajectory following, and the exploration of the limits of maneuverability in soft swimming robots. This work paves the way for future integration with onboard sensing systems to improve state estimation in soft swimmers and reduce reliance on external camera systems.