I installed an Pioneer AVIC D3 about 3 years ago before a trip out to the the Grand Canyon - I really can't say that I've been anything less than pleased with it since, though it has some small quirks. I have the Ipod integration, XM radio ($3 month), and back up camera. I've meant to, but never installed the Bluetooth unit - but I also don't use the phone in the car very much.
Installation is very straight forward with a Bose adapter - maybe a 1.5 - 2 hour job. I've hidden the antennas in the dash and have no reception issues, or unsightly boxes on my roof. The unit itself fits nearly seemlessly with a small black trim plate. And the additional sound processing ability really helps the factory speakers.
a quick picture:
