I just check the TSB for flushing tranny, they actually rev up to 3000rpm while the car is parked. I tried to find a complete procedure for the atf drain and fill, but don't see it in the manual.Warming the atf up is really as simple as turning the car on and shifting between the gears to let it flow while parked in your driveway. Let it sit for a few minutes, then do the turn off and check procedure that Acura specifies.
I don't really recommend driving it around unless you're absolutely sure you replaced the correct amount of atf. I've seen some guys replace less on accident and then head grinding from having too little fluid. Sounds like that are never good on a tranny.
There's a couple threads here that have asked for the atf check procedure so search around for it. I would find it but I'm on my phone so it's not that easy. But it's basically you need to check within a certain amount of time after turning off the car. It's very short, not 10 mins
Nvm found it: https://www.mdxers.org/threads/atf-level.146690/#post-1286242
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One should check the level before and after, of course, and I also made an assumption it's the 2014/2015 6 sp trans. That's why checking the drain volume is an 'extra' measure of assurance.This assumes that the previous level was exactly correct.