For the 02 year trucks no special interface is needed. Only the Can-Bus equipped ones need the interface (2006 on).
What you will need to do though is remove the stock radio, grab the harness coming from its back, and pull it out until you get to a Y in the wires. Find the connector on the other half of the Y (one leg goes t the amp, the other to the cab wiring), and disconnect it from the Y, do not let this connector you disconnected go back into hiding. The Y harness can now be tucked out of the way. Using the adaptor you can now connect your new radio to the cab harness. Be sure to disconnect the fuse for the infinity amp to fully disable it.
Full removal of the Infinity amp is possible, but a massive pain. It is located behind and above the glove box. To get to it you have to remove the glove box, then look up and a bit towards the radio. You will see it up there. 3 bolts hold it in place and one of the bolts is not easy to get too at all. It can be left in place if you do not want to get ticked off at your truck.