Just looked on Yamaha site and the AR190's are 2,441 lbs (3,111 w/ trailer). I was assuming they might be a bit heavier than this.
I estimate my AR190 to be around 3,700-3,900lbs on the trailer. Maybe a little more with some coolers, full tank of fuel, and a "long weekend" worth of gear. Doubt it crests 4,100 lbs though.
Keep in mind you shouldn't be looking only at towed weight, but need to also consider the GCVWR (Gross Combined Vehicle Weight Rating). This is the total amount of weight that the truck/trailer combination can be. This is often pretty low on Unibody SUV's. I think it's 15k lbs for my 1500 class pickup. A 10k or 12k rating on your SUV would limit you significantly.....For reference, my 1500 pickup is rated at 9,200lbs of tow capacity. I figured last years vacation with a bed full of "stuff" for a week, full fuel in boat and truck, 2 adults, 2 kids (with carseats) that I only had around 2,000lbs remaining in my combined capacity. A 24ft boat (as compared to my 19ft boat) would have eaten that away.
We towed a few times with my wifes 2010 Traverse. Similar platform and size to the Pilot. The chassis was plenty capable, and there was adequate power. We had the optional towing package with HD coolers, revised shifting parameters, and factory hitch/harness. The transmission temps would skyrocket right along with the engine temps when significantly loaded in the summer. Coolant temps would easily climb into the 220's, and the trans temps were often over 215. For reference, my 1500 GMC pickup rarely breaks 205deg, and I've never seen the trans over 190 in the same conditions. With 4 adults, and 3 kids in the Traverse, and the AR190 in tow on a 95deg summer day, it was struggling to stay cool, and it showed. I had a Trailblazer SS as well, that is VERY similar in size to your Pilot. It towed our AR190 like it wasn't there. It had a 400hp/400ft-lb 6.0L V8 in it, air suspension, and a 13k lb GCVWR. Cooling was it's issue with that truck as well, but it had cooling issues to start with due to the giant engine.
The point of my ramblings is that having some extra safety factor in your tow vehicle makes every aspect of towing easier. Sure you don't HAVE to have it, but it sure makes life easier......and isn't that why you bought a boat in the first place?