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2002 Acura TL - Only works when cold

I have a 2002 Acura TL typeS. When I start it up, it will perform well as long as the engine is cold. When the engine warms up, it will not move.

What kind of transmission do you have? If it’s an automatic, is the fluid at the right level?

Yes, it is an automatic, and the fluid is at the right level.

After it warms up, if you put it in N or P can you rev the engine as usual?

Is the Check Engine light on?

Or, is the D4 light blinking?

Tester

How often has that fluid been changed?
With a 2002 vehicle, I would hope that you have changed the fluid at least 5 times over the years, using ONLY genuine Honda trans fluid.