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We present the direct imaging discovery of a substellar companion to thenearby Sun-like star, HD 33632 Aa, at a projected separation of $\sim$ 20 au,obtained with SCExAO/CHARIS integral field spectroscopy complemented byKeck/NIRC2 thermal infrared imaging. The companion, HD 33632 Ab, induces a10.5$\sigma$ astrometric acceleration on the star as detected with the $Gaia$and $Hipparcos$ satellites. SCExAO/CHARIS $JHK$ (1.1--2.4 $\mu$m) spectra andKeck/NIRC2 $L_{\rm p}$ (3.78 $\mu$m) photometry are best matched by a field L/Ttransition object: an older, higher gravity, and less dusty counterpart to HR8799 cde. Combining our astrometry with $Gaia/Hipparcos$ data and archival LickObservatory 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 33632Ab's mass and mass ratio (4.0\% $\pm$ 0.7\%) are comparable to the low-massbrown dwarf GJ 758 B and intermediate between the more massive brown dwarf HD19467 B and the (near-)planet mass companions to HR 2562 and GJ 504. Using$Gaia$ to select for direct imaging observations with the newest extremeadaptive optics systems can reveal substellar or even planet-mass companions onsolar system-like scales at an increased frequency compared to blind surveys.

SCExAO/CHARIS Direct Imaging Discovery of a 20 au Separation, Low-Mass Ratio Brown Dwarf Companion to an Accelerating Sun-like Star