I had a raymarine wheel pilot (ST4000) on my Legend 35.5. Just about worthless in a blow (20+) when coastal. It's fine in protected waters but still requires attention in a blow. The performance is improved with the grey drive unit instead of the black one.
Currently have a Raymarine ST6002+ (below deck) on a bigger and much heavier boat. Incredible difference. 25 knots in LI Sound - going to windward, running, beam reaching - no problem. It is installed with linear drive and a rudder position sensor.