Listen to a car stereo with headphones?

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You can do it but you'll have to use only one of the grounds for the two channels that you'll use for the left and right signals. This should sound OK. If it does not, connect a 4 ohm resistor between the left/right negative speaker wires and the ground for the headphone jack. That will allow both grounds to send signal to the headphones.

You should also realize that there is 6v on all speaker wires so you'll either have to ensure that no metallic part of the RCA jack can make contact with ground. If it does, expect the internal amp in the head unit to be damaged. You can isolate all 3 (left/right/ground with capacitors before you connect to the headphone jack to block the DC which would help protect the head unit's internal amp.
 
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