For 3rd-gen Pilot ( 2016+ ) the first rear diff fluid change should come up on the MM at about 15k miles, and then about 30k miles later. This is a different differential than previous generations of Pilot, and different service interval. For "severe service" such as frequent towing or lots of mountain driving, Honda recommends changing fluid at 7.5k miles and then every 15k miles. But MM won't show that. The exact mileage at which the MM will indicate "6" service is due will vary because the MM is programmed to "bundle" major service items with an oil change.
This ain't your granddaddy's 4WD. The Honda/Acura system is sophisticated and fuel efficient, but it does require relatively frequent fluid changes. Your choice on whether to change now, let the MM nag you for another "15% oil life" and then do it, or wait until next oil change or whenever. But the MM has no way to know that you "skipped it to do later" once it is reset for the oil change, so YOU will have to remember to do it then, and the next "6" interval will be short because the MM still won't know what the heck you are doing. So I would just do the rear diff fluid change now.
If the cost really bothers you, DIY is easy and there is lots of room under the rear so you don't need to raise the vehicle. As a bonus, you get to explore your Pilot's beautiful underside.