Avoid Rogue, as that also has a lot of naval battles. You also play as a Templar, which some are put off by.
Origins and especially Odyssey have naval battles too. I've not played Odyssey yet, but Origins is mostly land battles, and it's possible to level up far enough before even encountering any naval battles to play the Hidden Ones and Curse of the Pharaohs DLCs, both of which are very good (especially CotP), and have no naval battles. You WILL have to do a few naval battles to finish the main campaign though. Odyssey has tons of naval battles though.
Origins, like Odyssey, is open world though, so you could literally play 90% or more of the campaign, then if you want to finish it, change to lowest difficulty then play the naval battles. Origins has tons of content and even after playing through it several times, I logged nearly 130 hrs playing the main campaign and two DLCs my last play through.
It's worth noting that the naval battles in Origins are also not the laborious grind some find the ones in AC IV and Rogue to be. You're piloting ancient warships that are slower, and the battle system is more automated. All you need do is hold brace (the whole crew ducks arrows), then release brace right after the arrows come and your entire crew will automatically return a volley of arrows without having to aim.
Of course it still helps to aim arrows at explosive objects hanging off the side of enemy ships, and steer well, which speeds up the process, but many just use the rinse and repeat brace/release method.
If you've not played AC1 or the the Ezio Trilogy (AC II, Brotherhood, and Revelations), they're great games with no naval battles, but I didn't like Revelations nearly as much as the first 2 in the trilogy. Also there's Unity and Syndicate. They don't have naval battles either, but you need fairly good hardware, especially for Unity.
I thought naval battles in AC3 felt awkward, and was glad when they were over. I got used to them much more in ACIV, and they were implemented a bit better. I soon came to really enjoy them once I honed my tactics. They are definitely easier in Origins, and there's no ship boarding to end the battle, and no forts.