Many of us have a Raymarine...
Autopilot. I just replaced an older 4000 with the interim S-1. The newer X-5 doesn't use the rudder sensor that the S-1 requires. But, there may still be some S-1's available for sale at almost half the price of an X-5 unit. Check out the X-5 in the WM catalog.
After some fine tuning of the software to make it respond more like my old 4000 did, I am quite satisfied with the S-1. Either one should be more than adequate for an H29.5.