I don't think the SiriusXM app can be used on the Tesla software...
However, you can connect your phone and play media from your phone... so in that case, you could use the SiriusXM app on your phone and listen to it that way. It is much less convenient to do, and I haven't actually done that yet. I've had SiriusXM for my commute for close to 15 years... been driving a Tesla for the last 10 days... so this is a shift for me...
I have instead switched to Spotify for music... i've always listened to Audible books, and that I have also done via the phone-media connection. Works well. The only thing left for me is baseball talk... will need to find a good solution for that, which might be the SiriusXM app on the phone...