What are the best devices to use in my car to listen to music on my 3rd gen iPod Nano?

What are the best devices on the market today to use in my car to listen to music on my 3rd Gen iPod nano? I currently use the Monster device that plugs into the electrical adapter (former cigarrette lighter!) in the car. It's a pain in the neck to manually search for unused FM stations on a long trip. I want something that automatically searches for unsused FM stations or, better yet, that will allow me to somehow connect the iPod into the CD player or directly to the radio itself. I have a 2004 Toyota Highlander.

Any suggestions for quality after-market products from the Forum?