Yeah definitely take it to Acura, I have an '01 Cl Type S and the transmission went south on me. I was past the 60K miles and they replaced it for free w/o me mentioning the 7yr/100K warranty I had. They are problematic for the car and the factory has stepped up to the plate.
As an interesting aside, my '03 Honda Accord V-6 had had tranny trouble too and they had a factory recall kit to add an oiler to it or something like that. I have 44K on it now and it is beginning to shift a little hard at times.....hhhmmmm, wonder if it could be a similar problem to the CL?