Has anyone here upgraded the factory headunit. The 6 disc in-dash is OK, but I want to put a in-dash AM/FM/CD/DVD/7"Monitor headunit in the car. I am looking to do a full blown audio, video, nav, with playstation2 system. Since no one makes an install kit or harness for the IS yet, I just wanted to know if anyone else has found a way around this. I already have a DVD player and a 6.8" monitor in the vehicle with rear vision, but I want everything centralized, and the FM modulator that ties into the factory radio does not work well with the Lexus. Any help is appreciated!!!