It sounds like you have the same issue with two sources, cable or DVD, both exhibiting lip synch delays. Did you try to use a different input option, ie switch to coax instead of optical?

I have not experienced lip synch delay on my dvd, also a Pioneer. but I have occasionally had my cable exhibit a lip synch delay and found that the HDMI power on sequence would sometimes throw the optical out of synch and by going into the cable box settings and toggling the audio outputs from digital to analog and back, the synch was immediately fixed. This is a random issue for me that is easily fixed. I recommend you also look at your power on sequence because the HDMI outputs of the cable box and the time the TV takes to acquire the signal could be your culprit, assuming your using HDMI.