That what I did never got to see the inside of the Highlander with the 3rd row seat at the shop. My husband plan was the 3rd row seat Rav4 model. Never saw one too until I was down at my parent and the dealership is just 3 blocks from their house. I saw the Rav4 with 3rd row seat and had the kids test it out and it had no leg room. Took pictures to prove to my husband that it is not for us. Probably 1-2 week later went back to the dealership and just that morning the Highlander with 3rd row seat option was in the front lot with balloons. I test drove it and just got it.
I hate my Highlander. I don't even drive it anymore. My husband refused to trade it even it is already paid off early then the original term. The dealership is always sending out letter to buy or trade in pre owned model.
I haven't seen the Pilot at the dealership just on the road but as far as size it about the same as the CRV. I like the look of the old boxy one but not the seatbelt for 2nd row or middle seat.
I drove the highlander, the new ones, last year and I did not like it at all. It felt very 'sluggish' and didn't have the power i would expect from an SUV.
Interior was "OK", and much better than smaller SUVs like the CRV and Rav4... but the 'sluggish' feeling was not forgivable for me. With plans to tow recreational and fishing boats and ATVs with it fully loaded on long hauls, I just didn't want to not go big enough.
I'm a big vehicle person, so I really liked the Sequioa. It's big like my current tundra, but it drives more like a car even though it uses the same truck frame and same engines, brakes, drivetrain, etc... No issues towing.