A couple months ago, I replaced by Sirius Sporter Replay (connected with Pioneer AUX adapter) with the Pioneer XM/NavTraffic receiver (GEX-P10XMT). My primary motivation was to get all the channel/artist/song displayed on my N2.
I was blown away by the improved sound quality of XM. XM almost sounds as good as my CDs. Sirius sounded more like my radio stations.
The best example is when I listen to the comedy station. When I had Sirius, I was constantly changing loudness / low frequency settings because voice (mid-range) was coming through my subwoofer. With XM, the voice come through clean only to my speakers. I can tell a big difference with music as well. The sound is less muffled and the highs/lows are much cleaner through the speakers/sub.
I also like the music channels much better on XM. I not a sports or Howard Stern fan, so I do not miss Sirius.