I had a TL as a loaner once while my NSX was in the shop. It was a really nice car and I left wanting one as a DD. Very comfortable and I love all the features (though I did not use the voice command business). In sport mode it even hauls a little bit of ass.
In my opinion the TL is a bit humongous - definitely harder to park than the NSX, so I've shifted my aspirations to getting an 09 or newer TSX. Really great looking car in my opinion. The only modern car that looks better than its predecessor (the 04-08 TSX is totally boring looking).
I will say that having driven both a modern TL and a modern Lexus ES350, the ES had a few more features that I actually used (like automagical windshield wipers) and was a bit easier to drive comfortably. What I mean by that is that their throttle map is clearly designed around absolute passenger comfort and making people feel like they were in a limo was effortless. The TL's throttle response was a little more jagged and less predictable.
So, if I were shopping for a TL-sized car, I might be tempted by the ES350, but since I want a TSX-sized car, I don't see that Lexus has a good answer in their lineup right now for the TSX. Test drive both the Acura and the Lexus and see what you like, comes down to personal taste.