Honda apparently smoothed out the bottom of the Pilot to gain fuel efficiencies. Check the article I linked in the "weight reduction" thread.
The front skid isn't very smooth and it has gaps. My guess would be that you would need a full body skid that would flatten all the gaps underneath. Have you looked under there lately?
Maybe putting diamond style metal plating would probably help. It would not be too heavy and probably be easier to replace if it was put in with interlocking sections.
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'04 Renegade L.O.S.T. #DL050292 -
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