Buying another factory CD player just like yours will be the easiest route. You can get them pretty cheap off ebay.
Also did you check to see if there is another wiring harness back there? My 99 XLE camry had the external amp, but it was also pre-wired for the regular headunit. That might be worth a look, but most likely it doesn't have that harness.
If you want to use the pioneer headunit you will have to hardwire, by running new power wire, ground, acc turn on lead(from ciggarette lighter or other acc. source. You will also have to tap into the speaker wire after the factory amp, or rewire the whole van with new speaker wire.
If you want to go with another factory CD player keep an eye on this ebay auction.
http://cgi.ebay.com/ebaymotors/ws/eB...spagename=WDVW