It will work just fine,
actually my friend has 1996 Rodeo with factory alarm, :)) actually he didn't know for the alarm till I show him the unit and he got remote from ebay, anyway he has remote starter and works perfect with factory alarm his starter is Viper 150ESP.
And the remote starter in the winter is one of the best thing after 4x4 :))) I got one too, it was a little tricky and I am not telling anyone since I have 5sp and is time to install safe switch before my wife to decide try it when I am not around.

Good luck

Ivan