The Pilot, Odyssey, and Ridgeline share the same platform and power train. With the towing package (4wd on the Pilot) you can pretty easily tow pretty much any trailer that weighs 3000 lbs dry or less with an appropriate hitch. There are some hybrids (full-size trailers with fold-out bunks) in that range that can accommodate a family of five. With 5 people, you likely won't be able to put anything more than people in the Pilot. (It has pretty good cargo capacity, but the tongue weight will take up about a third of that.)
If you want to talk to people that actually do it and discuss rationally the advantages, disadvantages, and proper setup (as opposed to many here that have a knee-jerk you-can't-tow-with-a-minivan reaction even though they've never actually tried), visit the forum at piloteers.org.
