You have firmware from 2017. Pioneer started adding support/firmware updates for these media from 2020/2021

BDR-UD04TBD
 

Unable to burn BD-R 128GB, does not recognize empty disks


Drive Information
OS device name: F:
Manufacturer: PIONEER
Product: BD-RW BDR-UD04D
Revision: 1.20
Serial number: SFDL159845WL
Firmware date: 2017-09-26
Bus encryption flags: 1B
Highest AACS version: 71

LibreDrive Information
Status: Enabled
Drive platform: RS8A10
Firmware name: PIONEER BDR-US04
Firmware type: Original (unpatched)
Firmware version: 1.20/ID84
DVD all regions: Yes
BD raw data read: Yes
BD raw metadata read: Yes
Unrestricted read speed: Yes

No disc inserted