Recommendations for off-road accessories on a Honda Pilot TrailSport?

So I finally pulled the trigger on a 2024 Pilot TrailSport in that Diffused Sky Blue and man I am so pumped to get it dirty. We live in the Midwest but we're planning this big overland-ish trip out to Colorado and Moab in late July so I have about a month to get everything sorted before we hit the road. I've got around $2,000 to play with for initial mods but I'm having a hard time deciding where to spend it first since this is my first real soft-roader and I dont want to ruin the daily driveability too much.

Im really torn between two different roof setups right now. On one hand I love the look of the Prinsu rack because its so low profile and looks factory but I've heard the install on the new Pilots can be a total pain and I really dont want to be drilling into my new car if I can help it or causing leaks. The other option is just getting a Thule Caprock platform. It seems a bit more plug-and-play with the factory rails but it sits way higher and might kill my gas mileage on the long drive out west. Plus the wind noise might be annoying for the kids in the back.

My main constraints right now:

• Budget is $2,000 max for this first phase
• Needs to be installed by mid-July for the trip
• Must be functional for a family of four plus a large dog
• Cant be so loud that my wife hates driving it to the grocery store

The other thing is the tires. The factory ones seem okay for what they are but I'm worried about sidewall punctures once we get into the rocky stuff near Ouray. Should I spend the cash on a set of Falken Wildpeak A/T4Ws and just get a cheaper basic roof basket or go all in on a high-end rack like the Prinsu and hope the stock rubber holds up for one season? I also looked at those Wilco hitch-mounted spare tire carriers because I'm paranoid about not having a full-size spare but I'm scared it's gonna mess with the backup camera and parking sensors and just be a huge hassle every time we need to get into the trunk. What do you guys think is the better move for a first-timer who's mostly doing light trails and dispersed camping? Prinsu vs Thule vs better tires...