Usually notice this when parallel parking and going from drive to reverse and vice verca a couple of times. Notice there is a slight delay when changing the gears. This has been happening for over a year now. I did change trans fluid

 

Shifting delay is a potential sign of transmission problems. Test and clean your shift solenoids, replace your external filter and do a 3x3 drain/fill with honda DW-1.

 

1.6 seconds is the spec delay in shifting thru N to a gear
Its how the trans works-
more than 2-3 seconds means find the problem- cleaning solenoids is the first step
you are running Honda DW-1 atf? not some bs? right?
Fluid level is BETWEEN THE DOTS at specified temp per owner book- cold, or warm from certain 15 minute drive procedure

free owner book download here -need VIN to register with acura care Acura Owners Site | Exclusive Knowledge, Service, & Benefits

 

Your solenoids are probably worn out. Check/replace the following.

1. Shift C.

2. Pressure A/B. Check the filter at the bottom of the three small pipes. Replace the three O-rings and gasket.

3. Pressure C.

4. Shift cable/attachment out of adjustment/worn.

5. Mainshaft speed sensor.

6. Countershaft speed sensor.

7. ATF temperature sensor.