I just upgraded over the weekend and am extremely happy that I did. At first I wasn't sure it would be worth it, but the improvements to the UI are worth the price alone. Here are a quick few bullet points:
Source navigation - So simple, yet such an improvement. Just having the sources on the left side whenever you have an audio source open makes switching between sources a breeze.
Ipod/phone controls - A million light years better. You can actually toggle from shuffle from the main screen (finally!). I like being able to navigate a playlist from the scroll wheel. Just about everything about it is better. My only complaint is I haven't found an easy way to go directly to playlist from the main screen. I could be missing the shortcut though.
Pandora - Wasn't sure how good this would be, but it really is pretty slick. Right now the app can't run in the background, but given the not infrequent updates to the AVIC Feeds iphone app, I think this will be updated eventually. Sound quality is good (better than XM) and haven't had any buffering issues, and I have it on High Quality
XM - This is the biggest improvement IMO. I only go to my handful of favorites, and now they are all right on the right scroll wheel. Very easy to navigate. And I could be crazy but the sound quality sounds a bit better to me as well.
HD Radio - No huge improvements, but again, having your shortcuts on the wheel is great, even though they STILL don't list the station number.
Maps & POI - Honestly haevn't noticed any real difference. The graphics are a bit spruced up and look a touch prettier, but that's about it.
ECO Driving - Don't know what the heck this thing is supposed to be for. I just ignore it.
Musicsphere - Reading some dodgy reviews of how this works on PC/Macs and takes forever to scan your library, I haven't even bothered to use it.
Bug fixes - I was having serious problems with my new Iphone 4.0 in that it was failing to sync all my contacts which obviously was a huge pain (esp. as it made my AVIC app useless). This bug was actually the reason I upgraded, and I'm happy to say that it works fine now.
So that's my summary of all the changes I can think of off the top of my head. I wouldn't hesitate to upgrade if I were you. Got mine off Amazon for about $170 I think. Honestly, if you have a 110 and got the $200 rebate, it's common sense to pay for the upgrade. you won't regret it.