The amps in these trucks seem to go bad one channel at a time, so likely your culprit.
Depending on which Pioneer you have and the RMS rating of the speakers, you might not need an amp, and just power the speakers directly by the Pioneer.
If you decide to install an aftermarket amp, you will need to run wires from the amp to the battery and ground to frame, as well as RCA wires from the amp to your Pioneer, then a speedwire from the amp to the harness behind the head unit.
Either way, you will need an amp bypass, since the speakers are wired through the amp. You can find the amp bypass on eBay (just plugs into your harness beneath the glove box).
https://www.ebay.com/itm/Amp-Bypass...Suburban-GMC-Yukon-Cadillac-Esc-/363048592794
Also, if you have rear audio controls, your rear speakers are wired through that control module, which will also need to be bypassed for the rear door speakers to work.
Then comes the fun part... Sound deadening the door panels to increase bass response