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With the alarm only going off at low speeds, the issue is going to be the cooling of the engine. The correct action would be to replace the water pump and inspect the thermostats. If they are corroded, replace them as well.
There was a bulletin on these engines where the exhaust tube needed to be lengthened. Only a Honda dealer can run your serial number and tell you if the engine has the update in it or not. If it does not, this will happen again.