c|net reviews the 2006 Acura TL.
IMHO, what once was leading edge is now tired and in need of a mid-cycle update.
Acura especially needs a new V-6 engine: 258 horsepower isn't enough in this class. The SOHC design and restricted exhaust flow (the exhaust "manifold" is cast into the cylinder head) severely limits performance. The heads are a 4-valve design, although using only a single overhead cam. That means that cam phasing is used, not variable cam timing where both the intake and exhaust cams can be varied independently. Compare and contrast to the Lexus IS350 engine - which is probably the technical high-water mark of V-6 engines at the moment.
But we'll see what Infiniti brings to the table next week in New York. If the rumored 3.7 liter DOHC V-6 engine with 330 HP is true, and if Infiniti remembers that this is a drivers car and doesn't restrict the handling with over-intrusive controls, then the new G35 (G37?) will be the drivers car to get.