I don't use SiriusXM but for those that want the ability to not only stream SiriusXM programming via their smart phone but also do so hands free there is Amazon Echo Auto. Echo Auto is an always on, listening array of sensitive microphones for your vehicle. The Echo Auto device is very small, about the size of a traditional garage door opener. The Echo Auto is powered via a USB A power cable, comes with a 12V adapter for the vehicle's 12V accessory outlet. Echo Auto connects to the Alexa app on your smart phone via Bluetooth (BT). (For vehicles without BT the Echo Auto comes with a 3.5mm audio cable.) In the Model 3/Y you set the audio source to be your phone.
By using the Amazon Alexa app on your smart phone, together with the Echo Auto device, you can interact with Alexa while driving, hands free, using only your voice. With Echo Auto there is no need to press any talk buttons on the steering wheel or within the Alexa App. Know that Amazon Alexa has an Alexa skill that enables Alexa to stream SiriusXM channels. Once you have linked Alexa to your SiriusXM account all you need to do is say "Alexa, play channel 12 on SiriusXM" or "Alexa, play Classic Rock on SiriusXM."
How do I link and stream the SiriusXM skill with Amazon Alexa?
SiriusXM will stream from your phone to the vehicle's audio system; your phone's data plan and data rates will apply.
Amazon periodically drops the price of the Echo Auto device from the standard $49.99 price to a sale price $19.99; Echo Auto is definitely worth $20.
You can also ask Alexa to stream content from your Amazon music library or your Apple music library, also Audible books, podcasts. Alexa can tell you the weather, traffic, news, tell you a joke while you are driving. Alexa can read aloud your Kindle library titles so you can listen while you drive. Alexa can be used while driving to navigate to a location, Alexa will provide turn by turn directions. (When you set up Echo Auto on your phone you specify whether you will use Apple Maps, Google Maps or Waze for navigation.) Alexa can also control your smart home devices while you are in your vehicle as if you were at home.