Thanks to all who posted on this issue - it really helped me find a working solution. Here it is:
I have the AVH5200DVD and the AVIC U220 and just finished my install with a successful parking brake bypass. I can watch video without unplugging the U220 before startup, no switches to flip, and it works regardless of the speed. I used the PAC TR7 module as suggested (available from amazon for like $20), but instead of just hooking it up as is (which uses the default function intended for Alpine head units) I programmed it to send a delayed output to a relay which grounds the parking brake. If you read the instructions included with the module, it's not that difficult: function #12 sets the module to send three separate timed outputs, but you only need 1. I set the time delay to five seconds and connected the input for the module to the power antenna line from the head unit and the time delayed output goes to the relay. When the unit turns on, the power antenna line sends power to the module, the module waits for 5 seconds then triggers the relay which grounds the parking brake. This gives the head unit the extra time it needs to boot up with the AVIC U220 connected before it grounds the parking brake. Now there are still some options that are unavailable in the navigation mode while driving over 10mph due to the accelerometer, but with this module/relay combination the video works perfectly all the time - from DVD, USB, iPod, AV Input, etc. Hope this help all my fellow Pioneer fans!