On a 2021 Camry there is an below-dash fuse labeled "DCM" which you can remove (and it does disable OnStar/telemetry, but not sat.radio[0]) — it also disables one of the speakers (used for phone calls), which there is a bypass to resolve (but it still requires removing infotainment, so at that point just unplug it there.?!).
[0] It was my understanding that, like GPS-receivers, Sirius/XM was one-way streaming, only..?
There are GPS antennas that land on that DCM and the data from that is forwarded over carplay/android auto. Phones fall back to their onboard GPS but it's a much worse experience than we're accustomed to. If you share the car with someone expect complaints. Pulling the cell antenna(s) is the most elegant solution. People shouldn't be afraid of a little work.
[0] It was my understanding that, like GPS-receivers, Sirius/XM was one-way streaming, only..?