I've tried it with pretty much every sail configuration by now. Except wing and wing. Not sure I'd trust it for that, unless I rigged up a pole and preventer.
The easier it is for a person to steer, the better the autopilot does.
Of course an autopilot is a machine. It reacts after the boat begins to go off course. To steer a boat well, you need to give it a little rudder before then-- constant small corrections.
I can always make the boat go faster than the autopilot (if I'm paying attention)
So I get to keep my job
