Wow, this a classic problem with these amps, and a fun one for this era of Japanese audio from many manufacturers . . . a bit of a blast from the past.
During assembly, Pioneer used a white, gooey adhesive on the component side of the PC boards, kinda slopped on some of the taller components to keep them in place. With time and heat, this adhesive turns brown, and becomes slightly conductive. When this adhesive is in contact with any of the components in the input differential amp area (a high-impedance matched FET), the amp will intermittently put out a DC offset condition, and the protection relay will activate.
Repair requires desoldering/removal of the affected components, and thoroughly cleaning their leads, then scraping/dissolving the old glue from the board, then reassembly. I traditionally used tolulene as a solvent, it works well and leaves no residue . . . but it's REALLY bad to breathe the fumes, so observe all safety precautions . . . and keep it off of any ABS-plastic parts, as it will dissolve them as well.