Acura/Honda's are quite sensitive to tranny fluid service. Few folks read the manual and reali,e that you must change 3qts of tranny fluid every 30K miles. I suspect your car was never serviced and your transmission servos are fouled badly.
There is no goodcsolution here. A 3x 3Qt tranny fluid change might make things better, might make it worse. Id try it though, if you get lucky, you will get by for several years, if not, you wrre looking at a tranny rebuild anyhow.
The Drain-fill, Drain-Fill, Drain-Fill process will replace all of the transmissions fluid and get a good deal of the debris out. If ot helps, you will want to do it again in about 3 months as the new ATF will clean a lot of debris put of the tranny in time.