It sounds like this may be a video format issue.
Your Pioneer appears to be HDMI 2.0 spec so it is limited to 4k/60 at 4:2:0 color only. It may be that the AppleTV is trying to use a mode that is not supported.
If it gives you video on the aux at the front, go into the Apple TV settings and try setting a safe resolution like 1080p to start with. If you can get it to put out 1080p into one of the inputs at the back, you may be able to work your way up in the Apple TV display settings from there (if I recall, it asks if a new setting works or not and will roll back if it gets no response).