I've had our 2100 Hagie since '98. I did have a Ravens 750 in it w/injection, but this yr I took that out & added an Insight w/autoswath. Is that what you mean by autoboom?

The AgLeader Insight works just great. Autoswath really relieves workload. In the photo below I'm only using 3 boom sections since I only run 25 drops, not the whole 80' boom. But when spraying beans I use the 5 sections w/the Hagie factory switches. You can get a harness from AL that allows you to keep the factory switches & wiring. Your boom lights will still work just fine, along w/your master foot switch on the floor. You'll notice in the photo that the AUTOSWATH box on the Insight screen is checked. I'm 100% happy w/our move to the Insight in the sprayer thus far. I use WAAS for correction.

No autopilot in sprayer here.