- Replaced Legend Sedan; all-new chassis; largest-displacement engine and most torque ever from Acura; first satellite-linked navigation system
- 1997: no changes
- 1998: revised suspension for improved handling; machine-finished alloy wheels; 8-speaker 225-watt Acura/Bose™ stereo standard
- 1999: restyled front bumper, grille, headlights, rear bumper, taillights, front and rear fenders; increased body rigidity; restyled interior with updated navigation system; Premium model dropped; side air bags and dual-stage passenger airbag standard; 6-disc trunk-mounted CD changer standard
- 2000: Vehicle Stability Assist (VSA) standard; navigation system equipped with DVD map database
- 2001: name altered to 3.5 RL
- 2002: engine revised to 225 hp and 231 lb ft torque; revised suspension for improved handling; improved sound insulation
- 2003: new wheels; new taillights with clear turn signal indicators; choice of three colors for interior wood trim
- 2004: Acura Navigation System with Voice Recognition standard; XM satellite radio standard; 6-disc in-dash CD changer; 10-speaker stereo system
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