Are you burning +R ot -R media? +R media requires prodvd+BAO v0.99.5. Also, just because this older version supported older Pioneer drives, it does not mean that all Pioneers are supported forever. Version 0.99b is over 2 years old now.
I would try BAO v0.99.5 + prodvd and see how that works out. So far I've got it running just fine on the latest NEC, Plextor, and BenQ drives. I also used to burn +R media on my A07 (worked great). Jamie created a prodvd installer a few months back that makes it simple to install. And now you can even use a public key. It's all at the BAO website.