I love my Alpha 3000 aka Dr. A. It steers me through everything. BTW, Lucia is a Wauquiez Pretorian 35, so the size and displacement is similar to your boat. The Alpha is very fast, plus it is miserly in its use of electricity, less than my Alder Barbour Super Cold Machine. Dr. A has steered Lucia for more than 10K offshore miles without a hitch. That includes running in 40 knots in a real sea, the hardest point of sail for an autopilot. My friend circumnavigated in his Bob Perry designed Nordic 40 using the Alpha 3000, and had the same experience as I have had. He loved his, as it never missed a beat. I have a lot of experience with the Raymarine below deck unit, about 3K offshore miles, and they are no where near as good. (I have no connection to Alpha. I'm just a very satisfied customer.)