Yeah, all three are by the driver's door, down in a well between the outside of the car and where your feet go. At least that's where they are on my 2.0...
I got access to it by taking the (now two-part) dash piece off that goes between the door sill and the air vent at the top. There are a couple of screws in the recess where the headlight switch is located. Pulling that out gives access to some more screws that hold the trim pieces in place. The bottom of the panel is wedged under the sill cover; if you can remove that without cracking it, it will make the whole thing go easier. I didn't remove it for fear of breaking it, so that kind of made things harder (and why I broke the two pieces apart.. The top part slips under part of the dash. There are technically two pieces, one a Lotus original, the other from Tesla, and they're glued together in the middle (the seam there). Mine broke apart, and there didn't seem to be any consequence. The hard part in getting it out and especially back in is up at the top, where they kind of want you to take the dash apart. I managed to push / wedge it back without cracking anything, but certainly don't want to try it again. Vague recollection of loosening one of the other dash screws around the steering column to raise up that panel corner. Oh, yeah, there are another pair of screws up at the top of the top piece, though I forget exactly where they went.
The modules themselves are stuffed down in the area in front and below where that trim piece covers. You will need access to the back of the radio in order to change out the cable, as the BT module has a hardwired uplink cable. The old cable should be able to be used as a pull-line, with enough tape to make it smooth. You're pulling it through a nest of stuff behind the speedo. I used a pair of flat PC slot covers as "keys" to unlock the radio from the dash. Slide them in on each side to release the spring clips.
The Sirius module is actually two modules in my car, one in the daisy chain, and a separate one that's the radio itself. The only picture I have is of the module set (minus the iPod module), not in the car. The iPod module also has a hardwired uplink cable, that should just plug into the BT module. Good luck!