A Raymarine Wheel Pilot would probably work with your boat. I installed a “new” ST-6000 last summer with a rudder sensor on my 10,000 pound displacement O’Day 322 on Lake Michigan. I sail in almost any and all conditions…small craft advisories, big seas, lots of wind. If I am fairly well-balanced, the AP can steer the boat….
A below deck AP would be a nice upgrade, but costly to purchase and install.
Greg