ok great - Follow up question, if I use the HDMI+Apple adapters (required for appradio function on 5S) will using that combo error out Carplay? (USB Lightening direct only)
I have no clue. That gets into the realm of "someone needs some actual hardware and tries it out". In that particular case, it is more a question of if it will confuse the Pioneer or not.
My guess is that you will need to select between CarPlay and AppRadio in the settings, and it should work in that case. But that doesn't mean much when software can and does have bugs.