The Odyssey has notorious bad transmissions from 2000-2003. You will not get anything on a trade, the trans can be fixed for about $2k. If everything else on the van still works and you like it, figure you bought it again for $2k. I changen my wife's Odyssey trans at 175K miles for $2k and she is happy so therefore I am happy too :-)
My Honda Odyssey 2001 transmission died last week. I had the car towed to a Honda Dealer. After giving my VIN # to the dealer, they replaced my transmission at no cost because it fell within the 7 year, 100 K mile extended warranty Honda was giving due to the class action suit on Honda Odyssey transmissions of the specified years 1999-2003 I believe. I paid nothing and I have a new transmission!
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Yikes! The transmission has gotten a lot of complaints, but $3500 sounds high. You should be able to find a used one for about $1200, Power steering is no big deal, unless you were in a wreck, and the front end alignment is $75. So somebody is wanting your wallet and your kids and your dog. I would get a second opinion on all that. The van isn't that old. And 140,000 miles, it is just getting broke in. I have 250,000 miles on my rodeo, and the tranny just quit. I got a whole truck for parts with tranny for $400. Took out the tranny, and a bunch of parts, and sold a bunch of parts, and then sold the truck for $400! Not bad. Hope this helps.
1999-2003 Honda Odysseys have trouble with their transmissions. Google "honda odyssey transmission" and look at the wikipedia article that comes up for Honda odysseys. In about the fourth paragraph you will find out about the transmission problems. If your van is acting up, have the transmission checked out sooner vs. later. It won't get better on it's own. Have the diagnostic trouble codes retrieved from the car's computer--any code that starts with 17 as in "1740" or codes that start with zero like "0730" are transmission codes and signs of impending failure. I know because my 2002 with 165,000 miles just failed.