Check engine light and VSA light
I had the same problem on my 2007 Honda Pilot. It ended up being all 6 cylinders "misfiring," VSA light, and ABS sensor logic failure. I used a OBD2 reader to reset the throttle body to idle learn which remedied the check engine light. I did a tuneup and replaced the sparks plugs with NGK iridiums @ 100k and K&N drop in filter. The previous owner replaced the coil packs. I have only 115k miles on it now. For the VSA light and ABS sensor logic light, check on youtube on how to reset the VSA and ABS exclamation light. It is a common issue on all Hondas. Use a wire jumped to jumper 4 and jumper 9. It worked for me. It took a couple tries and make sure to follow the instructions completely. If you are not comfortable doing so, just take the car into the dealer.
Previously, I took the car to the Honda dealer. They tried to charge me $342 for a valve adjustment for the check engine light and $100 for the VSA light. I ended up spending $0. However, if the check engine light, VSA light, and ABS light (sensor logic failure error code 84-01) persist, then take it into the dealer. I tried running a OBD2 code reader from Autozone, but it only indicates check engine lights, not ABS or VSA Honda DTS codes. You may want to consider picking up a OBD2 reader from Amazon. Either a Actron, Bluedriver bluetooth, or BAFX OBD2 Reader.