A 2020 Honda Pilot Ex GVWR for towing is 3500 lbs. SO No it would not be a good idea,. You will cause problems to your Honda's Transmission and rear suspension. The most I would tow with a 2 wheel drive Pilot would be 3000 lbs at the most.
It depends, will you be towing it at GVWR at all times? Or will you be towing it at below it? If you keep the trailer weight down (under 3500) and closer to the dry weight you should have no problems towing it.