I've seen a number of folks have had a similar issue of the door ajar alarm going off while taking a corner or going over rough road. My 2006 TL does the same.
I noticed that the passenger door has the adjustable screw thing with the rubber stopper over it, kinda looks like a rubber foot off the bottom of a table or pedestal. However, the driver side door, the rubber foot is missing.
Does anyone know what the part number is for this thing?? Or what it is even called?


Missing rubber foot thingie!

 

^
It looks like #5 on the link below.
Front Door Panels - 2006 Acura TL 4 Door BASE (NAVIGATION) KA 5AT (acurapartswarehouse.com)
Google image search the part # to confirm.

 

I ordered one of those but it's the wrong part. I believe that is that actual door stop as seen in my photo. I need the other one...

 

https://www.oemacuraparts.com/v-2006...nt-door-lining

#16 here

 

It looks like if you need #59, which appears to be the rubber grommet, you have to purchase the set - #57; otherwise, #16 looks available separately?
thoiboi's link:Front Door Lining for 2006 Acura TL | OEMAcuraPart (oemacuraparts.com)

 

Thanks, thoiboi and zeta! I believe you are correct. I will need the set, I believe the previous owner lost both pieces and just stuck some old screw in there. What's in there now doesn't look like either of these parts.