Just got off the phone with pioneer who told me that this problem occurs because the unit is bypassed, which it is. They said it would have to be wired correctly to fix the issue. I refuse to accept that. I was able to fix my unit myself. It would show the splash screen for about 10 seconds then go to a black screen. After the black screen was up for about 45 seconds i would have to press the map button and then the screen would show. Not the end of the world but annoying none the less.

 

It turns out the problem is in the backup camera setting (i have no backup camera connected). Go into settings>system settings>backup camera

 

both buttons will appear unselected. push the off button, back out of the settings screen, and try turning the car on and off. Unit should reboot normally.

 

This worked for me hope it works for you too.