I received no immediate replies so I continued my research and this is what I found.
Easy and free solution #1.
Connect both blue (to power antenna) and blue/white (to remote amp terminal) wires to the blue/white (remote wire from Head Unit). Now, when you power on the radio, the antenna will also rise. (the remote wire from HU sends +12V signal to turn on both the amp and power antenna when radio is on).
* A problem that may occur is that if the CD, DVD, IPod, or Iphone are being used, then the amp may not be powered since the radio itself is not being powered.
Easy and free solution #2.
Run the amp's remote terminal off of a switched accessory wire. This is the wire that the HU uses. It is only powered when the key is in the accessory (or run) position of the ignition switch. When you shut the car off the wire loses power and the radio and amplifier will both turn off. Your amp will be on when your car is on and off when you car is off. Note, connect the amp remote wire to the switched accessory wire after the inline radio fuse. So the fuse remains between the radio HU and the amp remote wire connection.
* A problem is that if the key remains in the accessory position and the radio is turned off, the amplifier will continue to remain on.
Easy, but not free solution #3.
Run the amp's remote terminal off of a switched accessory wire. This is the wire that the HU uses. It is only powered when the key is in the accessory (or run) position of the ignition switch. When you shut the car off the wire loses power and the radio and amplifier will both turn off. Your amp will be on when your car is on and off when you car is off. Add a switch to the amp remote wire. Note, connect the amp remote wire to the switched accessory wire after the inline radio fuse. Now add the switch to the amp remote wire. So the fuse remains between the radio HU and the (amp remote wire connection and the switch). Cost for switch runs between $1.00 to $15.00 (or more depending on how fancy a switch you want to get).
* A problem may be to remember to switch off the amplifier if you have the radio turned off but the key in the accessory position.
Easy, (but not free) solution #4. There are units (PAC TR4) that will sense the voltage on the speaker wires and then send a +12 volt signal to the remote wire. This unit is wired to a constant 12 Volt source and the speaker preamp outputs from the HU which provide a low level input (to the PAC TR4) which then triggers a 12 Volt signal (from the PAC TR4) which can be used to turn the antenna or amplifier on. This is the option for you if you do not want the amp on full time when the ignition is on, but the radio is off and you think that you may forget to turn the amplifier off. Cost is about $15.00.