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@gizzardgulpe
I've driven my parents' 2005 Honda Pilot quite a bit, which has a similar engine and 5AT. I think if you want to P&G, you should try "rev matching" it. For example with the torque converter unlocked in 5th gear on the freeway at 60mph, the engine is at 2500rpm. So before shifting from neutral to D, I give the gas a jab to bring it to 2500rpm ish, and it is very very smooth.
Similarly, you can "rev match downshift" if you are coming to a stop or descending a hill. Coming to a stop this might be able to save a few drops of fuel by avoiding the engine from idling, which it seems to do as you slow down past 40mph. Drop it to "2" while giving it a jab of throttle to bring the rpm up, and it goes into gear very nicely if you do it right.
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