2016 Honda Pilot or Odyssey for family?

My parents are looking for a new car to replace their 2003 Honda Odyssey, which they bought new. We are a family of five but rarely have all five of us in the van at one time, as we all have our own separate living situations. I guess you could say they are sort of empty nesters, so they don't necessarily need to have a big 8 passenger minivan anymore. They are stuck between the new Pilot or the new Odyssey.

The good thing about the Pilot is that it is smaller and easier to drive than a minivan while still holding good cargo capacity, however there are indeed a few occasions out of the year where they need to cram 5+ people into the minivan. The van has proven to be very useful those few times when they truly need the space. Seems like SUV third rows are very uncomfortable and practically useless whereas minivan third rows are as comfortable as any other seat in the car. Pilot is just an easier car to live with, Odyssey is more versatile. What do you suggest?
Added (1). both leases

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