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I had an FM modulator before I had an Ice Link. It was pretty poor. I'm not sure why jwa4378 is saying he can only find the Ice Link FM. According to the Denison website they have Ice Links that work with the following brands of aftermarket head units: Alpine, Becker, Blaupunkt, Grundig, Kenwood, Panasonic, Sanyo, and Sony head units. You may not have been looking under Ice Link Plus. If you're using the stock head in your MY00, I don't believe they make an ice link for the pre-04 S2K. If that's the case you may want to check out another brand like the Neo Ion.
I have the Neo Ion, similar to the Dension and the Blitsafe adapters. Plugs into the dock connector and provides power from and audio to the stock HU. Very clean look.