I installed a Pioneer DEH-X9600BHS in mine to specifically get rid of the touch screen. Without having steering wheel controls I found the factory radio more distracting than I'd like and went for a more basic radio with buttons and knobs. This one is equipped with HD radio and SiriusXM. I then bought a rearview mirror with a camera input and connected the camera there.
I used the factory sharkfin antenna for my XM connection. When you unplug the XM antenna from the factory radio note that it is a plastic connector surrounding a coax cable. The coax cable is RG174.
You can break off the plastic portion and plug it into the SXV300 (the SXV300 then plugs into whatever radio you use). Note that you'll need to secure the coax somehow as the cable isn't captive. I have hot glue on mine and it's worked fine since 2016. I did the same thing on my 2007 Ram and have no issues. My 2015 Tacoma had a little different type of connector that wouldn't plug into the SXV300 at all so I bought an RG174 pigtail with a captive female end and spliced it into the factory cable. I don't recommend this as the RG174 is so small it's difficult to work with.
For what it's worth there's now an adapter that makes it plug and play.
https://www.amazon.com/Satellite-Rad.../dp/B07M8J574J