Originally Posted by Double D
It is rated at 4,500 lb towing capacity.
You can tow any non-fifth-wheel Escape model; however, if the trailer is loaded to its maximum allowed (4000 pounds for the 19'), and you are also carrying significant passenger and cargo load in the Pilot, you may run out of Gross Combined Weight Rating (GCWR). If you load the trailer nose-heavy enough, you may exceed the hitch weight rating or run out of Gross Axle Weight Rating (GAWR) for the Pilot's rear axle. These would be more of a concern with the Escape 21', but should be considered even for the 19-foot.
The Honda Pilot owner's manual (at least the 2014 model year version) doesn't mention GCWR, but instead has a page explaining how as you carry more, you can handle less trailer (page 329 for 2014). It implies that the 4500 pound trailer rating is based on no more than 330 pounds of occupants (including driver and all passengers) and luggage. That in turn suggests a GCWR of 4830 pounds more than the Pilot's empty weight, which is probably about 4700 pounds (so gross weight of the loaded Pilot and trailer can't be more than the GCWR of about 9500 pounds).
Both of these are extreme (but possible) cases and are obviously manageable, given the experience of other members and the amount of cargo required to violate the limits. I suggest reading the Honda manual for the rest of the loading limits, beyond the basic maximum trailer weight. The Pilot and an Escape 19' seems like a reasonable combination to me.