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If you have the navigation/radio it is called an REC unit (not RAC). Here are the instructions out of the Navigation User's Manual:

1. Acc on, power off.

2. Press and hold the LOAD and Set/RND buttons at the
same time.

3. A diagnostic screen appears. Find the ESN on the
screen and write it down.

4. Call the satellite radio service provider (refer to the
satellite radio owner's manual) to activate the system.

I activated mine without the ESN. Called Sirius and they asked for the ESN and I didn't know what it was or how to find it. I ended up just giving them my VIN and they activated the radio.
 
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