Yes, but before maybe the 15th century they didn't really go on the really long voyages without frequent stops for resupply that lead to severe nutritional deficits. Maybe on accident or in unusual circumstances, but not as a standard modus operandi. Most of the time, people just sailed within sight of the coast.

And while 3000 years is definitely long enough to develop a sailing culture, it's not long enough to change the physiological makeup. Though I guess the same could be said about dwarven miners, if we assume that they developed from a common ancestor with humans and weren't just purpose-made as miners or general underground dwellers by the gods, which is often the lore about them.