The current is retarded or backed up at high tide.
Washington returned to Pennsylvania after the battle. Using your logic, he would have ended up 20 miles downstream, inside Philadelphia.
Also, Glover’s men made multiple trips back and forth to get them all across the river. Are you saying that each time they rowed 10 miles up river against this current to get back to the embarkation point?
Systems of locks and canals allowed horses to pull barges and boats without having to battle the currents. One could take boats from Philadelphia up to New Hope up and down the river. What was very difficult is to cross the river. Parallel travel was a relative easy, but slow journey. Each lock had to fill and rise one at a time.