very common on the 99-01 odyssey is the egr port clogging.
honda extended the warranty on this until 8 year/80,000 mile.(or more if you ask nicely)
occasionally will cause the TCS(traction control) light to come on.
AUTOZONE used to check codes for free but i am not sure if they all do this still. if you can get it checked and the code is P0401 or P1491, then this is where your problem may be. (DO NOT LET THEM CLEAR IT IF YOU INTEND TO GO TO HONDA)
the repair involves removing the plenum, clearing the egr port, adding a pipe to prevent the reoccurance, and replacing the EGR valve itself.
as far as the tranny warranty extension, this applies to 99-01 odysseys and usually you will have a signifigant shifting problem if there was something wrong.