The Honda Pilot is similar to the highlander, but has a tow capacity of 4,500lbs. The Honda Ridgeline, the truck version can do 5,000lbs. If you don't need a third row (I thought I did when we had our first kid and bought a pilot, but was wrong) a Ridgeline is more flexible in what you can do with it. I'm sure borrowing your friend's trucks has taught you what good a truck is. A Ridgeline is a good cross over truck. It drives like a car, is roomy inside, and has a bed for light duty stuff, plus oh yeah, it can tow your boat.
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