The IDS modes for Acura lean more towards Sport compared to Utility like you find with Honda products. Sport IDS mode would improve steering/throttle response and the sh-awd system will react more sporty/aggressively with tq vectoring when it needs to engage. Normal/Comfort IDS modes would reduce that added sportiness; but, it will still feel more sporty overall compared to a similar Honda SUV.
I like the sporty feeling and leave my 19 MDX in Sport IDS mode 99.9% of the time all 4 seasons and on/off road situations.