Since you already have a kicker motor i suggest using the kicker for primary thrust( 70%) and add a 72" 36v Gps bow mount trolling motor to steer and add the remaining ( 30%) thrust. I also had a 2100 Baron ( 1987) and used this exact system and it works amazing. Most walleye fishing boats in the 18-22 ft class use this method. I used my bow mount exclusively if i wanted to run a slow death rig, around 0.8 mph.
If I wanted to troll cranks 1.5 and above then fire up the kicker and lock it straight then use bow mount to steer and lock a course in. Adding the bow motor gives you features not available on outboard autpilots like spotlock and jog features.
Personally i have used the Xi5, a Rhodan and currently running a Minnkota Terrova. If you're looking for sonar graph integration it's Lowrance/Xi5 and soon Rhodan- and Hummingbird/Terrova. I liked all the motors Xi5 was good, Rhodan was excellent and I'm running the Terrova on my new boat because I wanted a foot pedal along with remote and Rhodan doesn't offer a foot pedal.
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