I read back and see you have upgraded to Pilot. I have owned 2 pilots and have towed boats from 14 to 19.5 ft. First....The length of boat is not the only factor. A 16 ft basic 20 hp rear tiller aluminum bench style boat weighs no where close to what an (ex) 16ft alumacraft trophy model with 90 hp motor on heavy trailer. Those could be 1500 lb difference. Weight is the big factor. I think your pilot should work fine for up to 17 ft aluminum boats.
Saying that. My pilots were 6 cylinders with oil coolers and strong stable hitches. The pilot towed the 14 ft and 16 ft aluminum boats easily. The 14ft was basic bench rear tiller, the 16 ft decked with side console 50 hp 4 stroke. 19.5 boat was glass, dual wind shield, 130 hp outboard with 9.9 kicker on trailer with brakes. I estimate tow weight of 19.5 ft around 4,000 lbs. I felt like I was pushing the limit for towing.
The tow capacity of awd pilot with oil cooler was 5000 lbs. I felt I could move glass boat easily and with trailer brakes stopping was good but not perfect. Weak spot was suspension stiffness of pilot. Big semis's when blowing by would set up a good push against pilot and boat. 240 hp motor on pilot was a little weak for accelerating up hills or on ramps. Awd never failed at pulling out boat at ramp.
I have since sold glass boat and pilots. I have purchased 18.5 alumacraft tournament on trailer with brakes. Approximately 3600lbs. My new vehicle is highlander. 5,000 lb tow capacity with 300 hp, 6 cylinder. Highlander tows this boat easily and stops quickly with trailer brakes. Average 17.5 mpg at 69 mph. Could use a little stiffer suspension but works well for up to this size boat. Take the time and set up your trailer and vehicle to tow smoothly and balanced correctly.