The OP does not mention the model year of his Pilot, and there are modest differences between model years. The Pilot shares its platform with the Acura MDX as well as the Ridgeline. I bought my 2016 AWD MDX in order to be able to tow an Escape, and have added the transmission cooler to increase the towing capacity to 5000#. So far, without having an Escape, I have discovered that putting just a bike rack on the hitch tilts the car enough to blind some drivers at night, with a single ebike on it I get more flashing at me, and with two ebikes pretty much everyone is pissed off. That would equate to about 200# of tongue weight. There is simply no way I am putting 400# of tongue weight on this car, at least without a weight distributing hitch. I have dug into every corner of the market for an airbag system for leveling the car but no one makes airbags for this MDX (and thus likely the Pilot as well, depending on generation - earlier generations did have airbags available IIRC). My owners manual says that a WDH is not necessary but can be used if desired - I think it is required. I have no reason to doubt the ability of the OEM towing package to handle an Escape 19 or even 21 with a WDH, but as others have noted it is working close to the limits. And just as important, the load capacity of the vehicle is pretty low at 1173# so after subtracting the weight of people and tongue there is only 200#-300# of capacity left, enough for a couple of kayaks on the roof and a few things inside but not nearly enough to use the MDX to haul any significant amount of luggage or equipment (most of the back from second and third row through the deck will need to be nearly empty). My conclusion is that it is a marginal tow vehicle, which I might use for occasional camping but serious travelling would best be done with something more robust, such as a truck with a strong frame. That is not the conclusion I wanted but that is where the facts lead.