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Of course make sure all the tires are properly inflated. Not sure on the 4G TL but on most Acuras there is a sender and receiver and if you have the code pulled it will indicate which device might be bad. I think both Advance and AutoZone can pull the TPMS related codes. I would say that since the vehicle is likely 1-+ years old, the sensor being the problem is highly likely.
You haven't used anything like Fix-a-flat have you?
However, it seems like the problem solved itself once the PSI on that same tire reached 34 PSI. The error message disappeared from my dashboard and the sensors are once again working as they should.