Unfortunately, no autopilot on the market supports the NMEA sentences 'TLL' and 'TTM' ;target lat/lon and target tracked message, that is basically how ARPA and selected AIS targets are passed along to compatible devices, but right now there is no manual or automated compatibility with an autopilot, although it's a great concept in open water. However the pitfalls are having a user specify the parameters of what constitutes a dangerous target, turn radii, and with the prospect of running off course into shoals or rocks automatically by the pilot is too much of a responsibility for any of the manufacturers to take.
Simrad has released a new package 2 months ago. Using a 2000 nema system. It's like a home computer system, where everything plugs into one unit. So an Ap-24 or Ap-28 would work swell. And there are options from there. Accessories.