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Welcome Demoso! Congrats on your new Escape!!

There are a lot of people here with the Kenwood DNX series, so advice shouldn't be far off. That looks like the correct harness that you'll need, and it sounds like a small bit of cutting to the fascia is needed but nothing major. You could save some $$ and hardwire, but I'm opting to do the same thing you suggested, and go for the plug n play method. I've pulled out my stock receiver in the past and I'm not sure if the Kenwood has a rail adapter, but the Ford has a rail on the bottom as a guide.

I don't know anything about the nav antenna through the vents, but once you get that radio out you have great access to the back. I was thinking that i might run it right to the center of the far front of the dash and pop it out there instead of going outside of the car or running cable all over the vehicle.

If you get ambitious you can take pics and make a guide ;).
 
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