I don't think the Pilot would work. We had a Volvo XC 90 and traded it because there was no good way to get to the 3rd row if there were 2 car seats in the middle row. Once we had #3, my oldest (who had just turned 5 and was still in a car seat) would have to jump over the 3rd row and that got old, fast! In my Volvo, you had to slide the 2nd row seat (split bench) forward to squeeze to the back. This was impossible when there was a car seat. (I hope that makes sense).
We are not fond of mini-vans, but like the idea of two captain's chairs in the middle (instead of a bench seat). We decided to go with the GMC Acadia and LOVE it! My older son (now 6) can walk to the back and buckle. Also, if I have to get back there, I don't have to hop over the second row. You can also get the 2nd row captain's chairs in the Chevy Traverse and Buick Enclave.
It's like a SUV on the outside and a mini van on the inside--perfect for us. And, I have AWD.