ryano21911, since your Pilot is 2WD, it is then front-wheel-drive. Being so, I don't see any reason why you couldn't tow it on a dolly. The confusion may be from people assuming that it's AWD which the majority of the Pilots are. An AWD Pilot can't be dolly towed ...nor flat towed. It can only be flatbedded.
See page 459 of your owner's manual (
GO HERE if you don't happen to have it). It has to do with "emergency towing" and it says this:
2WD models
■ Wheel lift equipment
The tow truck uses two pivoting arms that go under the front tires and lift them off
the ground. The rear tires remain on the ground.
This is an acceptable way to
tow your vehicle.
Since a dolly is lifting the front wheels off the ground, I believe that it is acceptable to tow the vehicle in this fashion.
Keep in mind that a Pilot is relatively heavy. It's around 4,500+ lbs. I believe. Therefore, with a dolly, you will probably be towing over 5,000 lbs. so be sure your motorhome can handle it.