I have just completed the installation of the Simrad AP24 autopilot with a mechanical S drive, on my 21EC. I was not able to find a Raymarine Sport since they are no longer made. The unit installed easily, and with the exception of a 20 degree bezel, everything needed came in the box. The 20 degree bezel was necessary for the drive unit to clear below the windshield wiper motor, since it is longer than the standard U-flex drive unit. The existing U-flex steering cable fitted perfectly with the new S-drive without any extra parts. The S-drive unit has a rudder feedback built into it, which shows the rudder position on the control panel, so it is not necessary to buy a separate rudder feedback unit.
The 20 degree bezel results in the steering wheel being at an angle similar to a car, and is more comfortable to steer manualy than the standard 90 degree mount. There are different ways to install the bezel, depending on how far out from the dashboard you want the wheel. I installed mine so that the top of the wheel is about two inches from the dash, which gave me a bit more room for my knees. I am 5'11" tall, and it is more comfortable to sit at, without the need to change the position of the seat or install a sliding seat. The compass is installed under the port v-berth bunk, beside the head, and the computer I installed under the starboard bunk near the hull. I built a small teak instrument panel above the dash which is large enough for the AP24 control head, the Garmin GPS, the Volvo tachometer and the Volvo engine on-off switch. (I prefer the tack to be up where I can easily see it.
The Simrad AP24 is a very sophisticated autopilot, which so far has worked well, and is very quiet when running. After making the usual calibrations on the sea trial, it keeps an excellent course, even with a quartering or following sea.
The advertising for the AP24 with an S-drive, says this autopilot is designed for boats with outboard motors and out-drives, and does not mention inboards. However it works fine on the 21EC, probably because the rudder is a good size.