Your loan does not add up. A financial calculator shows that $17,613.46 for 60 months with a payment of $349.13 is at 7.04% APR. You may have been promised a rate of 4.9% but that would be a payment of $331.58 over the same period. They may have rolled in some margin builders for themselves on your loan for GAP protection (not needed in your case) and Loan Insurance (personal choice).
Since the Tahoe was $500 from Kelly (presumably below), then you are somewhat OK there but know that no dealer will ever use ‘excellent’ condition when quoting a trade-in price. When I look at Kelly’s and plug in a variety of configs for a ’03 Tahoe at 31K miles, I can not come near $22,000 so you must have had a boat load of stuff in that thing. This is a good thing since you got near Kelly for whatever was in/on it although something smells here.
You say a sticker of high $64K but the options you mentioned do not get there (HSE, RSE, PTI). I don’t mean to bust your balls but there is something missing. Did you get LUX and SAT? Even with those you are only up to $63,550 sticker.
Also, since you traded your Tahoe, your taxable amount was reduced by the $22,000 they gave you for it and here is where you need to provide more information to see what you really paid for the RRS. Are you in an automobile sales tax state and if so, what was your sales tax amount? Also, what did they charge you for the extended warranty and dent plan? What level of extended warranty did you buy?
Like I said, it is not cut and dry to answer your question until 100% of the data is on the table for review. If you want a hip shot, then I say your Tahoe deal was great and your RRS deal was not.