I own a 2017 RDX with approximately 60k km on the odo. When I have my foot on the gas pedal, it always gives me this vibration. Sometimes it gets annoying. Anyone else experience this?

 

I think what may be feeling is the VCM (variable cylinder management) when the engine shuts down 3 cylinders for fuel economy.
Normally there are active engine mounts that keep the vibrations under wraps. There is also noise cancelation in the audio system.

Many use a set up to keep the cylinders from shutting down and run all 6 all the time. This can be a quite simple muzzler that has a resistor
inline with one of the coolant sensors to trick the engine management into never letting the cylinders shut down, to more sophisticated units that plug into the same place,
but have circuitry that will report the real coolant temp in the event of an overheating situation.
Those are: S-VCM & VCMTunerII. These were developed for Honda Ridgeline, Pilot, Odyssey, V-6 Accords (and MDX?) that
had some extreme issues with fouled spark plugs and bad piston rings on the cylinders that shut down. Honda had to extend the warranty and has to fix a lot of them.

Now the system in our RDXs are probably the best this VCM ever got, but shutting it off may save your engine at the cost of a single MPG.