My family of 5 has been on two cruises and we loved them both. We were concerned about possible seasickness on the first trip, but none of us had any issues. On the second which was a 30th anniversary cruise for my moms, my stepmom (who is very prone to motion sickness) was especially concerned, but also experienced no issues. On both trips we had one evening of..... I wouldn't call them rough seas, but the waves were certainly higher. We barely felt the ship moving both times.
Re: Claustrophobia. Our first cruise was an inside cabin. None of the five of us had any issues with feeling overwhelmed being closed in. I have one friend who always prefers interior rooms because she and her husband like going back for a nap in the afternoon when they cruise and without windows it is perfect for that. On our second trip we chose a room with a porthole window. I much preferred this personally as I liked being able to see the ocean any time, day or night. It just added to the experience imo.
Given COVID's presence, I'm not sure how I'd feel about staying in a room with anything less than a balcony suite. Being able to keep the door open whenever we're in the room would be a huge bonus for me, mentally. Would it make me any safer from exposure? I have no idea. Mentally I would feel better about getting more fresh air in the room vs a room that relied solely on the ship's ventilation (which could be fantastic now; Idk what upgrades/changes/precautions are in place now).