I used to tow a Honda Pilot, but all the wiring was done at the dealer where I bought my coach. There must be a way to connect tail lights,stop lights and turn signals because I had them working on mine.
You ask if the battery has to be disconnected and the answer is no. Never had to pull a fuse or anything. Just hook up the cable and go. They did install some kind of diode box to prevent the battery from going dead, prevents some kind of back feed. Not sure!
Mine was the Honda Pilot EXL fwd and it can be towed. I towed it for eight years. Very good vehicle, a little on the heavy side at 4200 lbs. Now I tow a CRV which is much lighter.