I'm also looking into doing this on my 30/30 for shorthanded racing, I currently have Raymarine ST2000+ hooked up to NMEA0183.
I have been doing alot of research on my next AP.
From what I understand The B&G and NKE will drive better then a Pro.
I would do a H5000 if you can afford it. Its about $5000+/- for computer, CPU, rudder feedback sensor, And gyro compass.
Simrad rudder sensor has a 120 degree limit, so if tiller does 360's it will need a ruddeer stop. you will need a AP controller, If you have Chart Plotter, MFD, that can be used.
The rudder sensor is a good/should have performance upgrade. But NOT a must have!!!
I wouldn't bother with Hydra or Performance upgrades. after reading instructions they are geared more towards canting keels and daggerboards on a large ocean racing hotrods.
For tiller drive you will need the pelagic drive, raymarine Q047, or DIY linear drive.
Also look into Raymarine EV100 Tiller, It is SeatalkNG/NMEA2000. It will run about $1700 with AP, Rudder Sensor, And STNG/N2K cable. You can hook a remote up for less then $400. Madmen marine remote, Raymarine "E22158" ST1 to STNG ($90)
Only problem I found is the raymarine rudder sensor has a limit of 60 degrees. I was unable to figure out if that's a mechanical stop or just its sensing range. If it's a mechanical stop, it might be overcome with a linkage ratio over 1:1. (as my tiller will move about 75 degrees and there is no chance of a hard stop being installed on my boat).
I'm sure the EV100 is nowhere near as good as the H5000 as the price will tell.
I just found out about The Pelagic AP ($1000) and will need a Antisense NGW1 gateway ($200) for wind sensor. I was concerned that it didn't have a rudder sensor and will continue with more research on this item.
I did notice that the Pelagic tiller drive plug had 3 Pins. Maybe it has a servo motor, a limit switch, a reference sensor, or just a extra pin.
My biggest pet peeve with autopilot without rudder reference sensor is
The AP computer has no idea what the rudder angle is. Try to imagine driving a boat without knowing what the rudder angle is. You would have no feedback of weather helm, if you are hard over or not, cannot anticipate wave motions. also if over heeled and need to come up a bit, know how much rudder angle to give up.
My ST1000,2000 AP is lacking all of this. when the helm is hard over the motor will continue running against the stop dramatically shorting its life. it would be salved with a simple limit switch. I'm guessing this is intentional because it will destroy its self within a few years (shortly after the warranty expires) As i use mine all the time . Then you need to buy another one.
My Criteria for an autopilot for Double/Single handed racing.
Remote control, Ability to steer to apparent wind angles, rudder sensor.