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I am going with the 5.1 setup in my car. For the front, I am getting a pair of component and a center speaker, now for the rear I dont know what to get. Coaxial? Midrange/midbass? or another Component?

well if its for 5.1 surround, I would put just as good of speaker in the back as the front. but I've never tried to do a 5.1 surround setup in a car.... so i would do some kick ass coaxials, or some good components

I'd do equivalent quality coaxials.

Keep in mind that the center channel is the primary channel in most movies and that the rears are least used. I wouldn't do anything greater than a set of coaxials in the rear. I wouldn't personally put midbass back there unless you listen to more music than watch movies.

straight midranges in the back for 5.1
all your rear effects handle are reflected and ambient fill sounds. Nothing more than light midrange stuff.
Anything with a tweeter is going to pick up hiss from rear channels when playing anything matrixed or synthesized, which you'll notice on most 5.1 setups playing 2.0 audio like a radio station.