You can try Replay AV, the latest version of which 8.4 is an exciting breakthrough for XM & Sirius customers.

Replay AV allows you to AUTOMATICALLY schedule and record using stream capture feature, which lets you record two or more shows from Sirius and XM radio simultaneously, with PERFECT quality. It also eliminates many tuning errors or problems with an "Are You Listening" prompt. I don't really know any other software that can do this.