Seems perfectly normal to me. On a sea day on a short cruise, the important thing is to find some sun and calm seas. If the captain was able to do that and keep the ship in that area for a period of time, that's a win for the guests (favorable conditions to use pool and outdoor activities) and a win for the cruise line (no need to burn extra fuel). The time that they took off from that spot may have been because they needed to get to another spot in order to keep on schedule or the captain saw a change of weather or seas coming and got the ship in a more favorable position. Sailing at 19-20 knots is also pretty typical.
Most likely if there were engine trouble, you would have seen other things happen rather than just being in one position. We were on the Magic one December several years ago when she went dead in the water. You knew right away there was a problem - odd sounds, announcements, unusual crew activity, etc. Even though it was not a big issue, it took 45 minutes to get the engines restarted. Doesn't sound like the Dream had any issues and all was just routine.