I just hardwired my Sirius radio in about 4 weeks ago...I wired in the FM Direct Audio Relay and also power. I won't talk about power since you're not interested in that, but if anyone else is, let me know...doing the power sucked, but putting in the relay was very easy.
On my Endee, and prob most others, there is no audio input so the best thing to do is use a Direct Audio Relay. I bought a kit,
http://www.6ave.com/shop/product.aspx?sku=SIRPVK1, which is for Sirius, and includes everything you need to wire in the power and the signal. I'm sure you could find one for XM, and you could probably find the Relay alone as well.
What the Direct Audio Relay does is essentially insert the Satellite signal directly into the antenna stream. You open up the dash, which is fairly easy on the Endee and plug this small box into where the antenna currently plugs in, then you plug the antenna into the new box. The box is about 1"x2"x1.5". I used velcro to stick it up inside the dash, then you button the whole thing up and it works great.
The signal is perfect!!! I just drove through NYC this weekend and didn't have to change the station at all. No Static at all! I used to have to search forever to find a good spot in NYC. I don't think there is anywhere in the country with more radio than NYC.
So that is my recommendation!