You already have an amp in the subs, so another amplifier should not be used. You could insert a variable attenuator or passive pre-amp in the cables leading to the subs.
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A Schiit SYS? $49.
Use same outputs as now from the Pioneer to the SYS. Run separate L&R channel interconnects to individual subs from the SYS. Am assuming the subs each have L&R channel line in. Control both subs with one SYS volume control.