What is the two rating of the class C? Some class C's are limited to 3500 pounds, which the Pilot exceeds (at a somewhat over 4000 pounds empty). If you have a 5000 pound tow rating, this pretty much means you must tow it four-down, which is no great limitation as most people find this to be the most convenient way to tow a vehicle behind a motorhome. You cannot back up with the tow vehicle attached, which does impose some limitations on maneuvering around gas stations and so forth.
Lots of people do tow a vehicle behind their motorhomes and find it very handy and not well worth any hassle. I have never done so, and thus far never felt greatly limited thereby, but a lot depends on how one uses one's RV and how long one stays at a particular campsite. I tend to be on the go a fair bit, so it's not too often extra work to break camp to drive somewhere when I'll be doing so anyhow.
I would suggest trying a trip or two without towing and seeing how things work out. You can always get set up to tow afterwards, but you may find that you're perfectly happy without. You might also find that it's obvious you want the Pilot or some other vehicle to tow; either way, you'll have a better idea of your actual needs and wants.
