As mentioned - springs will be the problem and airbags won't help.
Your shocks may still be perfectly fine, but should be checked anyway after a good long trip like that.
I just changed out all my coils, and adjusted my shocks (again). Sag is gone, ride height is back, and rebound is much better. I have Koni 88 series shocks that adjust up to just shy of three full turns (from memory). I now have them at two turns of adjustment (up from one turn) and it has made a huge difference to rebound.
With a load in the back of my wagon that includes drawers, tools, fridge, aux battery etc. etc. I went with the 500kg constant rated King Springs and found that it suits nicely what I do. I also tow a boat that is heavier than your Pioneer would be, and now it sits really nicely. Like ET, I also have the airbags, but only have 5-6psi in them to prevent pinching.
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