I've towed a regular cab Ranger pickup and a Honda Fit behind my 12,000 pound 30-foot C, have not been able to measure a difference in fuel consumption, as it varies quite a bit (6 mpg to 11mpg) with other factors when not towing. But extra mass (2500 or 3200 pounds, Pilot will be more) doesn't mean much when I seldom have to accelerate and drive mostly flatlands when towing.
I do feel the difference on acceleration, towing or not towing, lighter car s heavier truck.
I tow when I am going someplace to stay, and I need the transportation. I don't tow when road tripping, with mostly overnight stops, because the C gets around much better, and it is easier finding parking, when I don't have the extra length and handling restrictions (no backing) associated with a flat-towed vehicle.
So far, I've not even towed for snowbirding, the few times I've done that I've found public transportation serves my needs, but that is partly cultural. I've lived six years in urban environments where I did not use a car, someone without that experience might find not having their own car to get around uncomfortable.
Tom Test
Itasca Spirit 29B