This has been pretty much the design for all Honda/Acura ATs I've had over the years. Just a straight shot into "S" mode or D3. I'm usually backing out of the garage or a parking spot and just automatically just to 2-clicks to put it in "D" from reverse. There have been some occasions when I missed "D" and put it in "S" or neutral instead when taking it out of park. Got in the habit of looking at the gear select light in the gauge cluster for a quick double-check.
Won't be an issue once you upgrade your MDX or any other Acura pretty soon with the push button gear select.