The ignition harness typically has the best sources for voltage usage. Typically speaking though, if an auxiliary power source...ie cig lighter plug... is easilly accessible, then I say go to it. These GPS units come with plugs to hook them into the cig lighter plug anyway, so if they can plug in to the port then I say you can easily directly wire it into the same wires.
I also don't generally suggest wiring switch or constant off the radio. I suggest using the radio ignition wire as a trigger to a relay and using another constant 12V source as the "relayed" wire.