I use a 2005 Odyssey to tow the Minuet. It works very well; it's a stable, good-handling combination. Power is pretty good as well. I can see 15 mpg towing at 70 on the highway.
You'll need a transmission and power steering cooler to get the 3500 lb tow rating. I also had the hitch reinforced because the Minuet's tongue weight is on the high side for the factory hitch. Note that the tow rating drops as you add passengers; you can't fill up all 7 seats and add luggage and go tow the Minuet under the limit. It works fine for the two of us with our normal load of kayaks and bikes.
You probably know this, but your Odyssey model year has a history of so-so transmission durability. At the least, plan to change the fluid frequently.