I installed a pioneer f900bt with a steering wheel control module and it works great. Of course I lost sync, but i'm ok with that, the f900bt has voice control also but I don't use it much.
I also made the mod so the nav can be programed when driving and dvd can also be watched while driving,
for my passenger of course.
Keep in mind the stock head unit (the audiophile w/nav unit anyway) cuts the bass as you turn it up.
This can be corrected with the use of a MTX Re-Q, users on this board say they work very well.
I sold all my stock stuff for almost same price it cost me to put in all of my aftermarket hardware.