I had a similar situation with my 2010 B34. But I replaced the raymarine plotter with a B&G Vulcan 9. I have now got the upgraded Autopilot, B&G WS320 wind, B&G V60 radio and a Fusion radio. I still use a
DST200 speed depth temp, which is on a SeatalkNG backbone.
Seatalk NG is essentially NMEA 2000 compliant, so joining the 2 together is fine, you can either make a hybrid backbone or just use one or the other with adapter drop cables from SeatalkNG to NMEA2000 or from NMEA2000 to SeatalkNG.
My network therefore has Raymarine STNG backbone components, NMEA2000 drops to the B&G MFD and Wind. The newer EV100 Raymarine Autopilot was an upgrade from the st6002. This gave some important updates, specifically the head unit P70S. The network talks without issue but there is one major caveat. The st6002 autopilot cannot be seen reliably by the B&G MFD, nor can it be controlled by the MFD. This was part of the reson I upgraded to the EVO100 (kept the wheel as it is still the same). Although you cannot control the EVO100 via the MFD you can steer to a course or wind as the network does share all of that data.
The old st6002 would sometimes allow me to set a course and follow it on the MFD but was unreliable, it would sometimes not work at all and sometimes would.
The wind data from my WS320 B&G anenometer shows up on everything as it should so I have expectations that a newer DST810 (water speed, depth, temp) would just as well.
So my advice - replace the Autohelm course computer and head unit. Also if you haven't got one already I would strongly recommend a rudder reference unit.
Cheers
Steve
Makani B34