I was only subscribed to it via a work vehicle (i.e., the car had it and the company picked up the tab) but it was cancelled during cost-cutting a few years back. The Admin who handled it said they nearly had to get the company lawyer involved because they kept charging the card after the cancellation was confirmed.
I've also anecdotally read of people who wound up cancelling the credit card that was associated with SiriusXM in order to make the cancellation stick.
Even with all that, I actually considered it again a while back, but they also did not allow for multiple devices (at least not at the time); i.e., I had to sign up each individual vehicle (no family plan) and it also did not allow for online/web browser based streaming (that was a separate charge).
I'd get it and keep it if it was $5 for vehicle & home, and $10 for a family plan. As it stands, I don't think it's worth the cost, but that's just me.
That said, I would say you'd do better with any number of streaming services online or that have apps; there are commercials but you can eschew them with a small fee and they do not have the predatory practices re/billing that Sirius does.
Some also have a multitude of types that are included under a single subscription. This group, for instance, streams with a multitude of channels under each banner with limited commercials for $7/mo, $60/yr, or $96/2 yr (that's for each of the below, and each includes (more or less) dozens of channels)
https://www.radiotunes.com/#popular
https://www.jazzradio.com/#popular
https://www.classicalradio.com/#popular
https://www.rockradio.com/#popular
https://www.zenradio.com/#popular
https://www.di.fm