Another NAV question

[Trinity]

Traded the H3 and got a new H2 SUT (will post pics soon) with factory 6 disc CD with XM. Love the steering wheel controls and the fact that my kid can listen to another channel in the backseat with headphones.

I want to ditch the stock radio and get a NAV system that will allow me to listen to a CD at the same time as I navigate, and keep use of the steering wheel and rear seat audio controls.

So, which NAV system will allow everything that I mentioned above? And is it plug and play install, or a heck of a lot more complicated to install?

Much thanks in advance.