I wouldn't really compare the first gen Odyssey and the R. I'd compare Odyssey 1 with the Mazda5 and Rondo, but not the R. Although the greenhouses are large and airy, size-wise, price-wise, and powertrain-wise they are completely different.
I consider the R a car-oriented people mover, but not a minivan. That said, it's the closest thing to a minivan the premium Euro marques have offered in North America though.