I am adding a Satellite radio and would rather NOT use the FM transmission mode of connecting it. Is there an audio input on the radio/navigation system in the 2004

 

The satellite radio kit you are using (Vais, Grom, etc) should come with a "Y" shaped wiring harness. You pull the plug from the radio and plug it into the harness. Then plug the harness into the radio and the remaining end into the satellite radio unit. Using this method avoids the use of FM transmitter and preserves use of the CD player. You may want to call the tech support at the satellite radio kit provider to make sure you have the correct harness and understand the procedure. Hopefully, it is Vais as they are very helpful.