Thought I'd post this for those looking. Here is a walk through WITH all FILES need for Root & TWRP, along with XPOSED for the Android 6.0.1 Update.
If you break your device I am NOT RESPONSIBLE.
MAKE SURE DEVELOPER OPTIONS IS ON & OEM UNLOCK is CHECKED before proceeding.
Download the following files...
SuperSU Beta 2.68
XPOSED FRAME WORK
Extract the Odin file
Reboot phone into Download Mode (Turn phone off, hold POWER+HOME BUTTON+VOL DOWN)
Connect phone to computer (Make sure Samsung USB Drivers are installed)
Select TWRP file and load into AP SLOT
Select the OPTIONS TAB & Make sure Restart & Repartion are UNCHECKED
Click start and wait for it to finish
Now Hold Vol Down+Power button and reboot phone
As it reboots hold VOL UP+HOME BUTTOM+POWER BUTTON
Let go as soon as you see RED text that means your entering TWRP
When you enter TWRP flash SuperSU zip
You can also flash XPOSED If you choose to (I use Gravity Box for tweaks for the time being, you will also need the XPOSED APK!)
Then make sure to do a Wipe / Format > Advanced Wipe > WIPE CACHE / Dalvik / Art
Reboot & wait 3-5 minutes and your good to go. NO KERNEL NEEDED and NO KNOX WARNINGS.