Replacement tiller pilot options

I’m in the same position as OP - my ST2000+ is ‘ok’ at best, but I wouldn’t trust it on its own for any length of time under sail in more than an F4. My 31’ boat is light on the tiller and probably in region of 3.5t loaded. Choice for me is between Pelagic and EV100 but they’re not cheap and both have their detractors. Will probably go for Raymarine as it’s N2K ready but they are NOT liked over on Sailing Anarchy forum. Hmm. Concerto’s vid of his steering boat did look good, and my boat similar size/displ/hull shape to his Fulmar.
 
After further use on way back from Scillies, including close hauled under sail in moderate/slight seas (good) and under power with quartering sea (OK most of the time but now and again the Auto setting completely loses the heading) I'm now wondering whether it ever worked better than this and just hadn't used it enough to know it's foibles. It certainly isn't broken and I'm not sure whether it's faulty or just displaying the limitations of the model. I'm sceptical as to whether something like the Simrad TP32 would be much better and maybe need Pelagic or Evo or alternately can live with what I've got.
 
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