The Hondacars.com web site has a "Build your Pilot" page.
That should give you an estimated price for the installed hitch package. You should be able to figure the hours from there.
I would guess it should take about 2:30 to 3:00 hours.
Yes, I did mine. No I dont have a lift or a helper.
I usually figure flat rate time at 1 1/2 to 2X the real time, so that would be about 4.5 to 6 hours.