We present the direct imaging discovery of a substellar companion to the nearby Sun-like star, HD 33632 Aa, at a projected separation of $sim$ 20 au, obtained with SCExAO/CHARIS integral field spectroscopy complemented by Keck/NIRC2 thermal infrared imaging. The companion, HD 33632 Ab, induces a 10.5$sigma$ astrometric acceleration on the star as detected with the $Gaia$ and $Hipparcos$ satellites. SCExAO/CHARIS $JHK$ (1.1--2.4 $mu$m) spectra and Keck/NIRC2 $L_{rm p}$ (3.78 $mu$m) photometry are best matched by a field L/T transition object: an older, higher gravity, and less dusty counterpart to HR 8799 cde. Combining our astrometry with $Gaia/Hipparcos$ data and archival Lick Observatory radial-velocities, we measure a dynamical mass of 46.4 $pm$ 8 $M_{rm J}$ and an eccentricity of $e$ $<$0.46 at 95% confidence. HD 33632 Abs mass and mass ratio (4.0% $pm$ 0.7%) are comparable to the low-mass brown dwarf GJ 758 B and intermediate between the more massive brown dwarf HD 19467 B and the (near-)planet mass companions to HR 2562 and GJ 504. Using $Gaia$ to select for direct imaging observations with the newest extreme adaptive optics systems can reveal substellar or even planet-mass companions on solar system-like scales at an increased frequency compared to blind surveys.
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