I had the same issue with my 2006 Honda Odyssey after bringing it in for a brake master cylinder recall, the service manager notified me that 2 motor mounts needed to be replaced which would cost around $1500. He explains that it is a common issue with Odyssey vans and not part of regular maintenance, but they see it often. I asked why doesn’t the company do something about it, he could not give me an answer. You can file your consumer complaint with NHTSA at this site: http://www.arfc.org/complaints/2006/honda/odyssey/
Maybe if we get enough complaints, the will force Honda to recall the van to get it fixed at their expense.