I've done this myself to my 1996 Limited, it wasn't that much of a ideal, but I used a steering wheel out of a 1999 EB, which had the auxiliary controls (stereo/temp buttons). It was slightly harder in a 96 cause of the difference in the radio and EATC head unit. So All i did was get a EATC from a 1998+ and the radio from a 1998+, and wire them up. I then got the steering wheel from the 1999 EB, including the clockspring as well as harness it attached to.
The difference between the cruise only steering wheels and cruise + aux controls steering wheels is two wires. So you would need the plug that the clockspring plugs into under the dash. Then run the audio wire to your radio and the EATC wire to your EATC. The cruise wires are the same. I assume you have EATC, if not you will need to add this. There is a write up on here about how to go about that feat.
I'm sure what I have suggested would probably work for a 2006, but the wiring is most likely different. Also 2002+ use a different EATC controller, and radio. Not to mention the airbag differences.
Feel free to ask any questions.