This is an excerpt from the 2012 Pilot owners manual which I found online:
Emergency Towing--4WD models
The only way you can safely tow your vehicle is with flat-bed equipment. The operator will load your vehicle on the back of a truck. Any other method of towing will damage the drive system. When you contact the towing agency, inform them a flat-bed is required.
If this is what your owners manual says then I don't see how you can have any doubt about what you can do. Many 4WD vehicles have restrictions about how they can be towed. We sold two AWD that couldn't be towed at all.
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Joel (AKA docj)--
RV Technology Specialist
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