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If at all possible use an aux input to connect the satellite radio, the FM modulation method works but it is poor at best.
As to which service, choose the one that has what you wish to listen to. I listen to country music, the Sirius offering in this area is not very good while XM does a very good job. I have had XM since its early days and have been extremely pleased with the quality and variety of offerings.
XM has just announced a price increase, look for Sirius to do the same.
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