I went from a HQ Fusion with the robotics to a Innova 32 in with Autopilot Mach 3 software and the Embroidery software as well. All I can say is if it were me, I would go with an Innova! They are very user friendly, and IMHO very straightforward to use. If you encounter any issues they can usually be resolved by yourself with help from a technician via phone. Tech support is 24/7/365, and there is a reason you don’t have local dealers that service Innova’s, it because they are are reliable and even the timing can be done by yourself.
There are a ton of YouTube videos that teach and show how to use all the wonderful features and it has the most beautiful stitch! While no doubt Bernina makes a lovely machine, I don’t think they surpass the others that are in the Longarm lineup. Do spend some time playing with one if you have the opportunity. Good luck and let us know which one you choose!