So there are things you'll miss a lot about a hard side RV that you can't help in any pup, but there are also things you can do to mitigate those issues. I've pulled with an Odyssey for a LONG time now and they take some work to make really good popup tow vehicles. You'll need:
1. Install ATF auxiliary cooler and PS fluid coolers. Aftermarket units are both cheaper and have higher cooling capacity than the official Honda accessories.
2. Get a 2" receiver hitch, not a smaller one. E-trailer.com has good options.
3. Unless you are SURE your pup will have surge brakes (only Jayco still makes those), you need to custom wire the Ody for an electric brake controller. The Honda tow package does not include this. Do a charge wire while you're at it.
4. Get a light duty weight distributing hitch, rated 500# max, preferably more like 400. More is not better with a unibody minivan!
5. Pump van tires to 40psi for towing and change ATF every 30k miles (easy to do on this car!). Synthetic engine oil recommended (And I swap in one quart of 0w30 while the rest is 0w20 to maintain enough viscosity on long hot mountain grades).
Now limit your popup choice to one with a maximum DRY weight of 2,000#, based on your noted 6 people van load. Keep the LOADED weight under about 2,700# to stay within your van axle ratings. With wdh, it will be your front axle that hits capacity first. Use CAT scales to dial in wdh just right and verify all your ratings. Blow of Honda's sliding scale of tow capacity vs passengers in the manual. That's for those who can't add and subtract (You can, right?), or are too scared to use a truck scale.
This limits you to a 12' box, low wall pup with no front trunk or slideouts. CAN you pull more? Sure, but you'll be over some ratings. In the long run, that will cause you problems.
Pick a floorplan that allows you large amount of top-down accessible storage space. That will allow you to load and unload at home without popping the top, a HUGE time savings. It also keeps you van cargo minimized which is important because they'll be closer to max than the trailer axle.
Pack light and minimize frivolous accessories to keep under that 2,700# target trailer weight. No firewood, no water, no rock collections, no bikes, etc. Pup life is happiest when you keep it simple anyways.
Good luck!