We had 4 kids at home. The Odyssey was awesome for luggage and family hauling. We drove it over 250,000 miles. We now are down to one kid at home. The Pilot has been plenty big, but definitely would NOT have done the trick for vacations with the 4 kids. It actually has 8 seat belts, but that extra cargo room behind the back seat is critical.
So, if cargo is important, go with a Honda or Toyota minivan. If not, the Pilot is great. I think they have recently redesigned the Highlander to be a bit larger. Hyundai Santa Fe also has a long version.