Scifi, girl abducted, man and women go into space on a mission

Saw on TV, in late 1990s or early 2000s.
Video was probably made during the same time.
Decent (modern) production value, especially for a space adventure.
Long video, so probably a made-for-TV movie or a TV pilot.

Begins on a distant planet or moon (i.e. not Earth).
World full of humans and a few aliens.
Surface looks like a desert. A
lot of brown tents surrounding a marketplace.
Some broad dusty steps leading to a larger building.

Man with some dark desert garb goes into town, finds a bar.
Unknown occupation. Man receives a mission or finds a job, here.
Later, there might have been a bar fight.
Black-haired woman joins his crew, the next day.
They go off-planet on a ship to complete a job or mission.

Later, on the same planet, a girl is kidnapped
by some aliens. The aliens have creepy faces, but otherwise are humanoid.
They live underground in a bright red cave, with plenty of tunnels. The red is so bright, that it seems like some kind of plant growth.
Above the surface, the aliens wear robes,
and look like some type of religious priesthood. They are doing something
to the kid’s mind, as part of a ritual…

Anyways, man and woman defeat some big bad,
there’s a “gun” fight on the bridge of a bigger ship.
Then they race back to the planet to save the girl.

I don’t think the movie / pilot was well-received.
The video did not seem like the generic:
alien invasion,
time travel,
monster, or
space exploration molds,
so it is really hard to place.