better late than never ... the best on I've found is the harman kardon "drive & play" - manufacturer's web site
here, for sale on fleabay
here for £85 inc. VAT and delivery.
it looks like this:

the control unit is about the same size as a mobile phone handsfree unit, so gets tucked out of sight. The controller and screen are sited in the cabin near the driver, the cable to the ipod is fairly long but on mine the ipod sits in the glovebox, locked away. The wired FM modulator (2nd pic) comes with UK versions of the kit as FM transmission isn't allowed here (plus if my experience with a griffin itrip auto is anything to go by, are a waste of time in the miggy anyway)
It connects to the radio by either a supplied 3.5mm plug to twin phono plug (ie, hardwired aux input) which is the preferred option - or via the FM modulator - I had to choose this option as I've got the bose setup in mine. You get a bit of white noise during quiet bits of music if the volume is up - but it's not really a problem and probably what you'll always get with FM anyway?
Normal retail price is about £130-ish, I took the easy route and got it installed whilst I was on holiday though - cost me £200 (supplied and fitted) all in, the sharp eyed may have spotted it in the recent pics of my miggy
