Don't think about how much you've already lost. All you can control is your current situation. Are your current vehicle and financial needs best met with the VW or with a replacement? Run actual cost analysis and think about what you're giving up/gaining by switching and whether it's worth it.
The cost of a vehicle is not so straightforward as the $9.5k vehicle is cheaper than the $21k vehicle. Or that no payment is better than having a payment. It looks like you have a ~0.9% interest loan which is an excellent deal, so the debt is not inherently a problem with your current vehicle (unless you are struggling with cash flow).
What to consider with a cost analysis comparison:
Opportunity cost: make a spreadsheet modeling the initial equity tied up in the vehicles and how it will grow over time with the payments as a contribution on the VW side
Interest cost: minimal in your case
Sales tax: consider that an older replacement vehicle may need to be replaced again sooner and you could pay sales tax twice over a given time frame
Registration: cheaper vehicles cost less for registration, usually
Insurance cost: you can probably get a personalized estimate if you log in online to your insurance website or give your agent a call
Fuel cost: The 2018 Tiguan is
about 3 cents per mile cheaper than a 2009 Pilot
Maintenance/repair cost: older vehicles typically cost more to keep running
Depreciation cost: good estimate is 1% of the value per month
I agree with
@chemistk , you should definitely consider whether you need a 3-row SUV. If you want to save money something smaller and more efficient would be much better.