The MDX has been great although the 02 is well known for transmission failure. Mine gave out at 60K. There are hundreds and hundreds of similar stories, even at much lower mileage levels. You will here a "burr"ing sound between 40 - 50 MPH while traveling in 5th gear. Talk to your dealer and to Acura customer service in order to get a new transmission heavily discounted or best case, for free, even when you are out of warranty.