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According to the 2007 Honda Pilot manual, you should always use Honda ATF-Z1 fluid. If you don't have that, you can temporarily use DEXRON IIiATF, but only as a short-term solution. Prolonged use of DEXRON IIiATF can impact your vehicle's shifting quality. To check your fluid levels, run your vehicle for about a minute to warm it up. Locate the transmission fluid dipstick with the yellow handle, pull it out, wipe it clean, reinsert it, and pull it out again. If the fluid level falls between the upper and lower marks, you're good. If it's below the lower mark, you should add more fluid.
The gear assembly on your 2007 Honda Pilot requires ATF Type H fluid for its automatic transmissions.