I calibrated my X-5 today on a Beneteau 35s5. I connected my GPS to the NEMA input. Autolearn worked very well. I didn't have to make any manual adjustments. The autopilot is very responsive and always rolls out right on heading. I haven't seen what it does in higher wind and seas. The rudder position indicator seemed to be accurate without a rudder position sensor installed. The only caveat is when i disconnected the GPS, the autopilot couldn't accurately figure out the rudder position as is did with the GPS connected. Consequently, after a turn, it would think the rudder was over 30 degrees and not try to turn it further resulting in little turn. If i went to standby and back to auto, it would reset and work normally for a minute or two. My boat speed transducer was not working when I did the calibration so this may have contributed to the rudder position not being accurate without GPS.
