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The 2016 Acura MDX requires 5.7 quarts of SAE 0W-20 full synthetic oil according to the owner's manual. While some may argue that using a blend is sufficient, I personally prefer the full synthetic for a luxury vehicle like this and don't mind spending a bit more. You can get a 5-quart container from a top brand like Mobil1 for around $25 to $30, depending on where you shop. Furthermore, synthetic oil allows for longer intervals between oil changes, with approximately every 7,000 miles being suitable compared to the 4,000 to 5,000 miles recommended for conventional motor oil.
The instruction manual for the 2016 Acura MDX states that the recommended oil for the SUV's 3.5L V6 engine is synthetic SAE 0W-20. The vehicle's oil capacity is 5.7 quarts.