AI crossing sea

Not that I have seen. It will some times cross them, if it knows it can end its turn in a coastal tile.
 
Will the AI ever risk crossing even 1 sea tile (with curragh or galley) before Astronomy?

It will if it has the Great Lighthouse. But in general, no, the AI will never put a galley at risk of sinking. VMXA is correct though; the AI will cross sea/ocean if it can see tiles that are safe for the galley to end its turn on (coast, normally; sea tiles if GLight owner/post-astronomy)
 
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