i install both XM and sirius, and i listen to it most of the day at work........and so far sirius has kept me the happiest as far as variety goes.......and no commercials which i feel is important to fully enjoy it.
sirius also has the technology in place to transmit video, but will not be in operation for at least 2 years from my understanding.
XM does have some great stations and a wide variety... but the channels i like have commercials, and that kills it for me personally.
AND most authorized kenwood dealers are having a promotion where when you buy a kenwood reciever you get the $99 sirius receiever for free, you'll still need the sat antenne for it to work ($60-100)
but the basic cost for needed components for sat radio between XM and sirius are very similar, except for the monthly charge of course.
both services also have discounts if you pay for a year FYI