Should I change the timing belt on my Acura TL?

Only if you want to avoid a $3000.00 repair bill in the future. Years ago Honda recommended the timing belt be replaced at 75,000 miles, and they commonly broke at around 60,000 miles leading to bent valves. Most import engines are of the "interference" design which means the open valves will be hit and bent by the pistons as the coast to a stop.