iPhone/iPod adapter & aux

Can anyone recommend me a good adapter for an 06 Pre-Runner? I currently have a Satechi

Satechi Bluetooth Hands-Free Car Stereo FM Transmitter - Compatible with iPhone Xs Max/XS/XR/X, iPad Pro/Air, Samsung Galaxy S9 Plus/S9 and Other Bluetoooth-Enabled Devices

http://www.amazon.com/Satechi-Bluetooth-Hands-free-Transmitter-BlackBerry/dp/B000NVYVRO and it works well. I route my phone calls through the car speakers which is very nice. I just got another truck for my wife, another 06 Pre-Runner, and instead of buying another Satechi I'd like to install an adapter directly, but I don't know of any good ones and I wonder if anyone here has experience with one that works with music and phone calls. Also, I was watching videos about the installation of a Grom, but I saw that the adapter stays in the glove box. Any workarounds? I'd rather not have to open my glove box to plug my iPhone in.

 

i hate my GROM