My radio is all stock and I use the FM modulator to get sound to the head unit. The FM modulator connects between the stock antenna wire. the signal is then transmited from XM to FM and I need to use one of three radio stations to get the signal.

There is NO static at all with this set up as long as your ground is good! The only time I lose signal is when I am in a tunnel. I occasionally lose signal around thickly settles trees. Sometimes the signal gets blocked but this is minimal and only lasts a few seconds. ALL sattelite radios will experience this though so don't be discouraged.

Here is a pic of the FM modulator that sits behind my dash and conencts to the antenna wire: