I went from a system without to one with...
My H29.5 had a Raymarine ST4000+ with no Gyro. I went to a H410 with an ST6000 with a Gyro and there is a world of difference in accuracy and consistency on the autopilot. For example, the trip from my summer slip to the marina where I hauled out for this winter was a due north course in 20 to 40 NW winds and 4 to 6 foot rolling seas also from the NW. I was under power, not sail, but I set the pilot for due north and sat up under the dodger and only had to go back to the wheel when it was time to alter course. She tracked straight and true for over one hour in those conditions. I could never have done that on the old system.