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Sounds like your transmission is on the way out. Google "transmission problem 2004 Odyssey" and you will know the deal on your transmission. Lots of early 2000 model honda V6 transmissions had lots of problems.
Mitsubishi automatic transmissions can be finicky when it comes to there fluid. If it has not been changed for a while get some Diamond SP III ATF or a synthetic equivalent and change the automatic transmission fluid. It may clear up minor shifting issues that are caused by old tired fluid.
I know this original question was written quite a few months back but I was wondering if you ever found out what the high pitch sound was. I just purchased a used 2005 Honda Odyssey and it is doing the exact same thing. Any advice?
it is possible that you've got an issue with your power steering system, but the noise should be equally noticeable in both forward and reverse. the front differential is inside your transmission and if the differential is worn it will whine. if you pay close attention you may notice the noise when in first gear going from acceleration to deceleration at about 20mph. if this happens, it's most likely your transmission that needs to be replaced.