StLSY

There are a few ways to add XM, but the best we have found is the Vais Technology SL2xD2. It integrates with your factory audio system (Nav or non nav) so well you would be hard pressed to tell that it didn't come from the factory that way. http://www.vaistech.com/products/xm_products.php

We sell and install both the K40 and Passport 9500ci systems. Both are excellent at what they do. I have a K40 RL360 with the EX2 laser diffusers in my GS for two reasons. 1. The quiet ride is a great feature that lets me decide at what speed I want to be alerted. 2. I really like the "stealthy" integration of the two simple LEDs in the gauge cluster area. The speed warning feature is also cool if you tend to find yourself going a little too fast without realizing it. The system will politely alert you that you have exceeded the speed you set it at.

We can get the parts you need to put a double DIN in your ES, but will still run you around $299. The nice part is that it is an OE Toyota JDM dash panel so fit and finish is excellent. Hard to say how difficult the installation is without knowing your level of experience.