Page 53 of the owner manual shows using the aux input with an iphone. That same aux input would work with a television. Connect the red/white audio output from your TV to the 1/8" TRS aux-input jack on the Pioneer.
Page 54 talks about connecting an external monitor. It looks like the unit only supports 1960's composite video output, which is terrible for a 21st century device... don't even bother JMHO
2013 KZ Sportsmen Classic 200, 20 ft TT
2020 RAM 1500, 5.7 4x4, 8 speed