My Cal-39 has and older Raymarine 6002 wheel drive system. Same wheel unit as the X-5 system, just not as "smart" as the newer system as faer as the control unit. I starting having problems with the wheel drive toward the end of last season and contacted RM who provided NO useful help and with some research
it was apparent the TECH who answered my question knew nothing and was just trying to drum up business (I posted this on the product review forum here). Was going to upgrade to a below deck drive using my ccurrent control unit (my boat had one at one time so it already has mounts etc), but now I think all I need is a new belt so am going to go this way.
On my first trip with my boat I ran into 10-15' seas and 30+ wind and had to beat into it. My 6002 unit steered the boat though all this just fine under both motor
and sail up until the mounting screws for the bracket on the pedestal
backed out (not RM's fault) so I had to take the wheel. Thats when I found how much better the autopilot was doing over what I could do in maintaining course. The saying about "if you have a hard time steering
so will your autopilot" is true. If you are trimed correctly the autopilot should do fine 99% of the time. While I feel RM sucks as to the service
and support end, the products seem to work just fine.