While not a "manual," several YouTubers have walked through the HRZ099 menu system. Search for "How to change language on Pioneer Carrozzeria" or "AVIC-HRZ099 Bluetooth setup English subtitles." Look for channels based in New Zealand or the UK, as they import the most JDM cars.
Pioneer released a very similar unit for the Australian and European markets. The button layout is 90% the same, and the menu logic is identical. Pioneer Carrozzeria Avic-hrz099 English Manual
Let’s address the elephant in the room immediately. Does an official English manual for the AVIC-HRZ099 exist? While not a "manual," several YouTubers have walked
The short answer: No, not from Pioneer.
Pioneer Japan produces the Carrozzeria line exclusively for the Japanese market. They never intended these units to leave the country. Therefore, Pioneer Corporation never printed an official English user manual for the HRZ099. If you search the official Pioneer support sites (Pioneer USA, Pioneer UK, Pioneer Australia), you will find nothing. The button layout is 90% the same, and
The long answer: Yes, there are "translated" and "functional" English guides available, but you must know where to look and what they actually are.