I self installed Sirius wired through the Dension unit; the hardest part is getting the antenna from inside the cabin into the front boot; from there you can route it and get it under the plastic cowl of the windshield wipers; that's the OEM location for the navigation and XM antenna.
It would be very simple to do it using a wired FM modulator as well; in fact there is an article on how to install a wired FM modulator in the
Articles section which will tell you about the two antenna adapters you need:
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I don't suggest using the built in wireless FM transmitters on the Sirius receivers, they will get you static and horrible sound quality.
Another tricky issue is power because Sirius uses a 5v power adapter and cars are 12v. The best solution for this is buying a Sirius hardwire kit; the kit comes with a grounded\shielded power cable and a wired FM modulator. Google: Sirius Hardwire Kit and they will come up.
I was told by another person on this board to use the Sirius Dot antenna for the best connectivity and I did. I also used the basic Sirius receiver for my installation because it was the smallest, I fit it into the shelf under the a\c controls. Here is a picture.
My best advice is install it yourself; you know it will be done right.