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For a long time I had occasional problems engaging 3rd gear - would baulk going in and I'd have to back off into neutral and try again, then it would engage.  After many discussions with Acura dealership this was fixed under warranty (a new 3rd gear assembly was installed) after Acura issued a service bulletin specific to this problem.
That was about 6 months ago.
Shortly after this fix the same problem arose relative to 4th gear - occasionally baulky shifts into 4th.
It would seem to me that there's a design issue with the gearbox.  Has anyone encountered this issue?  If so, your comments would be appreciated.