What is the dealer offering? Most of these on autotrader are typically 6k+. I just pulled up KBB - price ranges there are in the 7k range. That said, you have to understand, just because you have 35k miles on the car, it is 13 years old. UV, heat, time have a way of breaking stuff. And it's not new/shiny, etc. Your price is driven by what people want and what they fear. Acura/honda was coming out of their "we make crap" phase. Go see complaints.com - this is what people know about Acura. As for the dealer, well, when was he ever your friend?
My opinion? You have a 2007 with 35k miles, and I really want to come over and slap you. Why would you swap that out for a new car. It's a hell of a lot cheaper to get it completely detailed and spray it with "new car smell". Your description implies that the car runs fine, so I am mystified. Now if your wife is about to have triplets and you need something bigger, I'll cut you some slack
Honestly, the only brands that exceed Acura depreciation rates (remember - they are over priced Hondas) are: Land Rovers, Jaguars, Mercedes and Infinity. Why would you double down on stupid? I'm not trying to be harsh here, but in 2018 I picked up a new car for the first time in 30 years. In my research, I came across the phrase, "German cars are great, until the warranty runs out."
I happen to have a 2003 TL type s which is the biggest piece of $hit I have ever seen. It has a solid engine and a properly rebuilt transmission, but I'm tired of working on it....