==================================================Yes, I have done it with both RM and Pelagic on 2 different boats. One with an Aries and one with an auxillary rudder type system.
Our big boat is 44’ and 40,000 pounds. I made an adapter for the RM to the Aries. Later I mounted a Pelagic unit and had to change the adapter slightly.
I later moved the Pelagic to the small boat where I mounted it to a short tiller on the aux rudder wind vane.
Spring for the Pelagic if at all possible. Quality company is not not even close. And they sell adapters to Monitor and other wind vanes.
Let the windvane's water paddle provide the power to steer your boat to a constant compass course. Includes standard Pelagic Autopilot electronics, windvane actuator, bracket(s) and/or cable for connecting the autopilot to the windvane. A standard attachment kit for Scanmar's Monitor windvane is...pelagicautopilot.com
=================================================Like to have as many backs up to systems and this seems to meet my expectations.
If it is back up systems that you desire, try sheet to tiller.
Takes a bit of farting about but when you get it organized it is a cheap thrill.