I hate this unibody vs BOF talk. Neither one is inherently better than the other. What the vehicle is intended for is more important.
The Ford Panther (Crown Vic, etc) platform is BOF, but nobody builds them up as rock crawlers (except that one video of one in Moab, but even that look stock).
The Jeep XJ is unibody, and lots of people off road with them. Is that a small minivan, too? The newer jeep Cherokee/Grand Ckerokee (I don't know what the difference is) also do OK off road, but they are designed to be better for on road performance because that's what 99% of people need 99% of the time.
The Ridgeline is unibody, but they advertise it as sort of a hybrid frame to try to appease "truck people" who have a very specific idea of what a truck should be regardless of what would actually be best for them. Basically they use it's a box section frame attached to the body. Just because it's welded on rather than attached with rubber mounts, how is that any different?
Crash tests aren't an inherent property of unibody vs BOF either. I'm sure a Jeep XJ would crumple like a tin can in a small overlap test. I doubt any BOF platforms do well because the test didn't exist when any of them were designed. Plenty of newer unibody cars failed the test miserably when it first came out.
What makes a good off road SUV? Solid axles, lots of clearance, space for big tires and articulation, good approach/departure/breakover angles, 4WD low, etc.
What makes a good on road SUV? Good handling on roads, lots of space, fuel efficient, etc. Also traits of a good minivan.
A lot of these things are mutually exclusive. A Jeep XJ has plenty of room under it, but inside is tiny compared to the overall size. Seriously, it might as well be a 2-seater the back seat is so small. A Honda CR-V has almost no ground clearance, but the inside space is maximized.
Why isn't the Pilot good off road? Because it isn't designed to be. It doesn't have enough ground clearance, and the 4WD system, though good in theory, isn't robust enough. I wonder if the new Intelligent Terrain Management (sand, mud, snow modes) helps at all?
Just because something was done a certain way in the past doesn't mean that's the best way to do it. For example, even 4WD low could be obsolete soon. With 8 speed transmissions or CVTs first gear could be so low you don't need a low range. Of course they need to figure out those transmissions better, first, but one day someone will get it right.
There would be advantages if a car company were to hypothetically design an off-roader from scratch. It could have pre-lifted long travel independent suspension for good on road handling and good off road performance. With a CVT you'd save a bunch of weight from the transmission and transfer case. And with unibody construction it could be lighter and have a bit more interior space than current BOF SUVs. Or for the same interior size it could be a little smaller, so it would be easier to fit on trails. The newer jeep Cherokee/Grand Ckerokee (I don't know what the difference is) is close, but the design is more biased towards on-road since they still have the Wrangler for more serious off roaders. They have no incentive to improve on the Cherokee/Grand Ckerokee because the Wrangler fills in the off road space. If another company wanted to, I'm sure they could make a better unibody off roader. But it wouldn't help them meet CAFE requirements, and it might not sell a whole lot, so I don't know if anyone will do it. Whatever the next generation 4runner is will probably be our best hope for an off road capable SUV that's also nice to drive, whether or not it's BOF. They already have the Highlander (same as all the other 3 row medium SUVs), so they don't have to give it that treatment. They can focus on having an off road capable medium sized SUV and let the Consumer Reports people buy highlanders.
I guess every company needs a copy of the exact same 3 row medium SUV crossover because that is what sells the most, apparently. But once they have that, they can do something different. Honda has the Ridgeline. Toyota has the 4runner. Jeep has the Wrangler.