If you want high quality audio, use Tidal (for MAX and Atmos recordings) or USB. The Lucid sound system is professional grade (ask @Bunnylebowski and others), so it's going to make crappy quality audio sound crappy. Should the native Sirius app be stable? Of course, but I only checked it out once in the 1-1/2 years of the beta and free trial and went right back to Tidal. There's no comparison.
There's no satellite receiver in the car, so a satellite antenna wouldn't do you much good .... If you really want the satellite feed (which, as was noted above, is of a poorer audio quality than the app), just install an aftermarket system that includes the receiver and antenna. Or, if you have CarPlay, play it through CarPlay. I, too, have interconnection issues through the car's native SiriusXM app from time to time, but they usually resolve within a few minutes.
The way my wife and I use SXM is not for music (except for Christmas music), but for live sports and talk radio, which is awesome when you travel as much as we do and having a constant signal. So, not concerned the way the audio quality sounds, as for our use case it still good and much better than AM radio. I too wish that Lucid had the real SXM antenna.
Yes.. It is all about quality of the source material... The upgraded sound system shines with Tidal (or other high quality recordings). Even bass sounds betterl. Tidal outperforms "lossless" Apple Music feeds too. That said, even older music has better separation and depth with Tidal because it delivers fuller non-compressed sound..
