Maybe there's a few different camps of thinking here.
Camp 1 -- Don't want to spend any money on the audio system...I just want it to work as is.
If you are in this camp, check the sound on the subwoofer before you buy a nav system one. Otherwise, you will end up in camp #2.
Camp 2 -- I can make a couple of repairs and minor upgrades with adapters, but not put in a whole new premium system.
I'm in this camp, but it didn't work out for me on my 2003 GX470. Subwoofer foam repair didn't fix the rattling. It's missing bluetooth and rear camera connectivity. On a side note,
@JLee would a 2008 GX470 nav head-unit get the me features I want? Is the 2008 head-unit plug and play on a 2003? Hmmm, maybe that's a better upgrade than the Grom adapters. Now that people are looking into the Tesla upgrade, maybe some factory nav head-units will be available.
Camp 3 -- I want a premier audio system and I'm willing to spend money to upgrade.
If you are in this camp where you are going to upgrade all the speakers, subwoofer, amp, and head-unit, then yeah get the non-nav. It's easier to deal with the HVAC controls.