PlumBob,
My two cents -
Most Autohelm/Raymarine SeaTalk systems have interchangeable components. All the old Autohelm/Raymarine manuals and tech data are available on their website. Downloadable in PDF. Fluxgate compass autopilot controls,and rudder reference units use the seatalk interface. Instruments up thru ST60 should work on the SeaTalk bus.
Like all equipment selection for the boat(and most choices in life)) the question is what are you planning to do? The wheel pilot will be at its design marginal because your IP 32 when loaded will be north of 20,000lbs. You can cheat a little with the weight on an IP because it tracks so well in a seaway. But don't kid your self, a Raymarine wheel pilot will be at the edge of its capability.
An autopilot is nice on s sunny afternoon day sail, and you can get along without it if it dies. But when the wx gets nasty and you or your crew are sick the autopilot can be a safety item. You want a correctly sized and installed autopilot that will sail down wind in big seas at 35+knots, so a short handed crew can manage the boat.
We were very happy with a below deck Raymarine AP on our 350 for 15,000nm. This is a boat not much different than a 31/32. I assumed that Island Packet met their dry weight design, but when I added stores, crew, liquids, spares, equipment, it was 24k, and that's assuming that the design weight was met.
One person's Opinion,
George
S/V Delicia