Not sure about the US, but in Europe it happens fairly regularly with inland freight ships and private yachts. There are wooden guardrails near the bridge pylons to limit the damage (to the bridge) specially for this reason. Statics is also quite interesting, you’d expect the heavy traffic - most accidents correlation but it seems fairly randomly distributed. “Alphen aan de Rijn” in the Netherlands is quite famous for boats hitting/removing the bridge, getting stuck, yachts taller than local houses breaking down in tight spots…