Yes, many folks have done the Pioneers/are happy with them, and any decent upgrade speaker will make a difference. I chose JBLs, which cost a bit more than the Pioneers, but are 2ohm speakers, and very efficient (louder with stock amp). I chose a 3way for the front kickpanel and then their high-end tweeters, and, if I had it to do over again, I might have gone back with components, for which the system was designed. JBL and Infinity make some good, efficient 6x9 components that would work well with the stock amp/setup. In the B&O, I think it's very debatable whether you want to switch out the rear 6.5s, because the B&O amp has a very forward bias, making the rears, even if fully faded, used for little more than fill. Finally, there is debate about the center channel speaker, whether it should be replaced, left alone, or removed. In the 2017s with the Sony system, it was an 8ohm speaker, which creates issues if you replace it with a 4ohm, which most aftermarkets are. In the B&O, it's a 4ohm, so the issues are more with imaging. Because my JBLs are a good bit louder than the stockers, I left my center channel alone. Many high-end installers recommend pulling it/unplugging it.
Have fun, and good luck!
