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UPDATE: I gave my workshop subs a quick test each in the editor sandbox, all appear to be working fine. I had to replace my The Rusty Sow workshop sub completely but that should be all good now too after a few updates.
Of my submarines that meet your specifications, you could try the Dallas or the Humpback Deep Diver, they are average size (certainly not big) and contain all sorts of mod cons, you shouldn't need to do any tinkering unless you really didn't like the way something was set up.
I really enjoy the Middle Kruste personally, which doesn't have fancy ARC but really makes up for it with its general performance, especially in Tier 2. If you don't mind doing without an artifact chamber, it's the perfect sub IMO.
Can you recommend anything else?
its got an automated turret, and the weapons can all be controlled from the helm
so may be 2player friendly