XM box has constant 12v, OP is looking for switched.
If you have onstar, the VCIM is in the passenger side rear cubby, it would also have constant 12v.
The antenna modules are mounted on the rear wall, they have switched power coming from the radio trigger wire, but I wouldn't use it to actually power something. However, a backup camera doesn't use much power, so it might be OK, but I wouldn't risk cooking the radio for it. You can use the trigger wire to pull in a relay, then use one of the constant wires mentioned above to power the camera.
Click here for all of the radio schematics.
Or just run a power wire to the front of the car when you run the video wire