To answer one of your questions, the radio opening in the dash of my 2000 Wrangler is 1.5-DIN. A 2-DIN HU won't fit without dashboard modification, but a 1-DIN unit will fit with a readily-available adapter, or there are a couple (not many) aftermarket 1.5-DIN units out there.
I'm not sure what the Compass can accommodate; the simple way would be to tell Crutchfield what you have, and see what they offer that fits, and go from there.
As for connecting to an existing sound system,and ye shall find.



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