Welcome aboard! You're gonna love it!
Yes, you need a WDH. Don't try to tow without one.
Yes, as mentioned, you can get a WDH that is compatible with a swing tongue.
This board has many owners who have towed with an Odyssey, usually (though not always) with good success. I suggest you scroll down through the Towing Rigs forum, or do a search on Odyssey. You'll find lots of info.
Bill
|