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The 2010 Acura TL SH-AWD came with a 3.5L V6 engine as standard, but you could choose to upgrade to a larger and more powerful 3.7L V6. Regardless of the model you choose, both versions have an oil capacity of 4.5 US quarts, including the filter. They both require fully synthetic 5W-20 oil. You should change the oil every 7,500 miles or 12 months, whichever comes first. If you opt to have the oil changed at a shop instead of doing it yourself, expect to pay between $110 and $140.
The owner's manual for the 2010 Acura TL SH AWD suggests using SAE 5W-20 full synthetic engine oil.