[STMech]

Question. Would this be something that I need to do asap, or can I wait a bit without risk of engine damage?

With 185k miles, your Pilot is overdue for a valve adjustment. The intake valves tend to get looser, but the exhaust valves tend to get tighter clearance with many miles. The intakes can be clicking as the exhaust valves are running hot and starting to burn.

Your best action at 185k is to do a valve adjustment soon. A burnt exhaust valve is much more expensive to repair.