Good.
Your Venture is also 21.7mpg, and it's 3.4L, less than Pilot 3.5L. So I think Pilot is better than Venture.
Newer cars have a lot of electronic stuff than older ones. That will eat up a lot of your mpg.I think.
Consider this, new Pilot engine is better than Venture, even with a higher exhaust and heavier electronic load.Coz normally, among the same type of engines, higher exhaust has lower mpg.
I think. Don't trust me. haha ...