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It is very common for the tensioner to wear out on these, so I would have to agree with Acura on this and replace the tensioner and the belt. My shop has been replacing a lot of these lately.
I use a mechanics stethoscope placed near the tensioner and you will normally hear a loud growling noise that will get louder the closer you get to the spinning pulley.
What should I expect to pay? Dealer vs. regular acura repairman
This will vary depending on labor rates in your area, but the belt is $36.13 and the tensioner is $163.17
The labor time is only 1/2 hour to replace both. Most independent shops run $50-$80 an hour and the dealership is usually $120 an hour.