I bought the 2009 Pilot with 185k and unknown history. Bought a gallon of Honda DW-1 fluid, $42 from a dealership near my house. Drained, refilled, and result wasn't dramatic, but still very noticeable. Shifts smoothened out.
Old fluid was brown-red, almost burgundy, but didn't smell burnt.
Coming up to 202k now, still buttery smooth. Will change it again at 210k, and then every 30k after that.
My vote goes to YES - change the fluid.
Only use DW-1 Honda OEM fluid.
THIS THREAD shines some light on why that's important, how it's different, and why universal ATFs are not truly compatible with Honda "automated-manual" transmission. Which is what the Pilot has.
Here is a little explanation on AMT, Automated Manual Transmission:
"Until 2017, Honda’s automatic transmissions did not use planetary gears as almost all other automatic transmissions do. These Honda transmissions utilized traditional, individual gears on parallel axes –like manual transmissions do– with each gear ratio engaged by a different hydraulic clutch pack. These Honda transmissions preserve engine braking by doing away with a sprag between the first and second gears, relying instead on pressure circuits to change gears."
P.S. I do agree that in this case it's best to tell that friend to take the car somewhere to perform this service. The transmission will most likely benefit from it (like mine did), but if something unexpected does happen - friend's fingers will point to the last person who touched the transmission. Choose wisely.