A pair of motors pulling 5 Amps each makes 10 Amps. A 4 A/H battery has, theoretically, about 20 minutes before it is fully discharged. In practice, SLA are not generally suited to that level of current delivery, so probably rather less time before they give up.
Whatever the battery technology, 4 A/H is still 4 A/H, but NiMH and LiPo are better able to deliver high currents continuously. The same weight of battery will have a lot more capacity and will give longer run times, but a lighter battery will give a faster boat.