If you’re only using the two speakers you don’t need or want the Pioneer involved at all. Using a splitter isn’t optimal, but in this case you’re probably much better off using one with the NAD and something like this might work (also sold through Amazon that might be better for returns/shipping).
https://bigjeffaudio.com/products/big-jeff-audio-1-to-3-pair-cockbox-rca-splitter-distribution-block
If you need the AVR involved for TV or something you can still use it with the NAD, but I’d need to know more if that’s the case.