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In my experience the easiest way to do it is to use the ae64.com harnesses. They provide a 16 pin connector for camera and 6V power as well as making an accessory 12V harness that plugs into an unused plug behind the radio ("Option harness"). With those connectors you just plug the camera video to the 16 pin harness, plug power and ground to the option harness, plug the reverse wire into the big harness in the footwell and the other end to the 28 pin harness on the radio and run your wires (in my opinion running the wires was the hardest part).
I used bullet connectors for everything so I didn't permanently modify any wiring (other than the splice for the reverse wire). I also extended all the wires in the main camera harness to be the same length as the power and ground were much shorter than the video signal. Snaked them up the trough under the panels on the driver's side, through the rear seat and around the trunk lid to the cam. Really wasn't that big a deal.
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