I was in the same boat as you. I've owned portable Garmin units and their navigation is second to none IMO, so I was leaning toward the Kenwood, but it wasn't worth the extra money to me (I didn't have a need for DVD playback or the better preamps so I went with the Avic-F700BT).
The Pioneer navigation is still good, and another plus is that the are several hacks/modifications you can do - see avic411.com for more info. I've customized the layout/user interface of mine and it has addressed a lot of the gripes I had.
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