Yes, that is how it is currently connected.
Are you saying they're connected with RCA cables, or that they are connected with twisted pair RCA cables with no shield?
Those Rockford Fosgate cables are not shielded, they are a twisted pair. You would need a 3-pin connector to shield a single twisted pair.
You likely need to move the amp and radio grounds to the same point (same screw, bolt, etc., attached to the vehicle chassis/body), and see how that works. That will somewhat make the two devices have the same ground potential, and the RCA cables won't be carrying current across a difference in ground potential from device to device. That is very important if you're chasing probable grounding issues, because those differences in ground potential is what makes things susceptible to noise, and also moves noise from one device to another.
You may also need to isolate the radio chassis from the dash, but there are other things I would try before that.
You should not be grounding the radio at the battery unless the amp is also grounded directly to the battery. Even then, the ground wire length for both devices would make that a bad idea.
Wire length creates resistance, and resistance in a wire that carries current creates voltage differences, and voltage differences breed noise.