It sounds like a handshake failure on the HDMI link. Pioneer does not provide the version of HDMI on this receiver but judging from the video resolution and year of manufacture, it's probably 1.4. HDMI 1.4 is typically limited to HD (1080p) but had provisions for supporting up to 4K, without some of the newer 4K features later introduced in HDMI 2.0 and HDMI 2.1.
Assuming an analog connection is no longer possible, one solution might be to manually lower the resolution in the TV box menus to 720p, 1080i or 1080p. Another would be to replace the HDMI cable with a high speed cable that supports the wider bandwidth of 4K. Connecting the TV box directly to the TV and using the audio output from the TV (ARC or optical) to the AVR is suggested by Pioneer so it sounds like this may be a common issue with this receiver.