We bought a 2018 Odyssey about a year ago and briefly considered the Pilot for maybe 5 minutes. IMO the main benefit that one would normally get from an SUV vs Minivan is a different body style as someone may not like the minivan look. But the Pilot is puffy and pillowy just like a minivan, it literally looks like a minivan on taller wheels. In return you get less interior room, less cargo carrying capacity, and more difficult ingress/egress for the rear seats.
If you are only going to occasionally use the 3rd row seats, and really like having AWD, by all means the pilot is a great choice. But for a family like us that needs 6-passenger capacity, the Odyssey was a far superior choice.