My head unit was pioneer. Yes, using pre-outs.
The issue stems from most (all?) aftermarket units using the stereo frame as ground. The Toyota/Lexus unit does not attempt to use the frame of the stereo as ground. Instead it uses a dedicated audio ground that originates and lives only in the amp...
For me, option 1 resulted in sound quality similar to a walkie talkie.
It's a floating ground which conflicts with the aftermarket unit's battery ground. The two differing grounds must be unified and you cannot do that while attempting to use the factory amp. It's not possible and must be...