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The wiring is all there. There is a place on the rear of the roof for the GPS antenna, and it's all wired too, but the antenna is kind of pricey. You may want to try finding installation instructions for the 2000 ML Nav system.
There are 2 different GPS units available, the original one is CD ROM based, and the newer one is DVD based. They both install the same and will work no problem. The DVD is better I think because you only need 1 map disc for the whole USA.
Gilly
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