From one electrical engineer to another... WAAAASSSUUUPPP!
Okay now that the pleasantries are out of the way, you don't really need RCA outputs, they are nice to have but many stock systems just don't have them. What I do is I shop at crutchfield.com. The prices are a bit higher for the same product you might get on eBay or amazon cheaper, but the trade off is you get a factory warranty, really good hassle-free service (like if they send you a bad unit, they ship a replacement to you right away), you get tech support PLUS they send you pics/drawings/detailed steps of the installation procedure in case you are like me and don't assume you know everything before you begin to rip panels apart.
If you go to their website you can filter external amps that have "speaker-level inputs" and that basically means that the amp will have a pair of slots (per channel) with some kind of set screw or locking mechanism so that you can splice-tap your current speaker lines and plug them into the amp directly. Many ppl do this to conserve their factory radio, matter of fact I was on the phone with them a few weeks ago because my Mazda5's speakers seem to be made of chinese cardboard it seems, so I will need to boost the signal as well as get new speakers. They pointed me to this Alpine "Power Pack" unit its really tiny, perfect for fitting in behind the dash or even behind the glove compartment it's like a foot long by 2 inches x 3 inches it's like a stick almost. Not the most powerful amp but it does have speaker-level inputs. From there you run the outputs to your speakers (or crossovers if you have component speakers).
I've seen they carry the Focal brand but they seem expensive, nothing wrong with JBLs, Infinitys or Polks, and you save money. What I would do is fill up your bottom-end sound first with maybe a powered subwoofer, they don't take up a whole lot of space and many times are easy to unplug if you need to get it out of the way to move a sofa or something. Then if you feel your mids and highs are still lacking you can always upgrade the rest of the system, many times just filling in the low end does it.
I always apply sound deadening material to the doors and back panels where the speakers are, it does help to eliminate some road noise while helping absorb some of the energy that comes off the speaker frame and into the vehicle's body, which distorts the sound and sometimes creates rattles. This can be tedious and messy since butyl-rubber sticks to everything but well worth the install in my opinion.
First things first, take stock of how much room you have, take measurements, then you can start to figure out things like How large can the amp be? and Will I want to add a power capacitor? I usually don't advise ppl to install an amp or anything else like that under a seat, especially if you live in a cold state where snow and rock salt are a problem, it's easy to kick salty water onto an amp and you know what that will do if it gets inside. By the same, the amp, which outer case usually is a heat sink itself, will need to be ventilated property to prevent shutdowns.
Good luck, let us know what you do, and take pics!!