My vote would be for a new Pilot. I think the proven V6 is appealing over many rivals that have gone to a turbo 4 cylinder. Also, the AWD system is one of the best in the segment.
Curious if you have had any transmission issues with your 2016. The 6-speed is not the most reliable unit, especially in the '16 to '20 Pilot and '17 to '19 Ridgeline.