I just finished installing a Jensen Sirius Satellite radio in my 2002 GS300.
I did not use either a FM modulator or a cassette adapter which are the usual ways of adding a sat radio to an existing (non-sat ready) audio system. Instead, I broke into the wiring harness at the audio amplifier input and installed a new sat radio input. The audio amp input is now switched between AM/FM and sat radio by a relay. The relay is actvated whenever the sat radio is switched on. All the audio controls (treble, bass, balance, etc.) work just as in the AM/FM mode. I used blocking capacitors in the sat radio radio output because the factory AM/FM output is differential but the sat radio output is low side ground.
Is a that worth it? Probably not but I am a nitpicker and the sound is better than the cassette adaptor I used temporarily.
I don't recommend this approach unless you have some facility for electronics.
I live in the remote mountains of west, were there is only one daytime radio station available, and it play country or religon. The Sirius is great, a good selection of music and no commercials.
If any one is interested in the details. Just ask.
Larry