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You should use DOT 3 brake fluid for a standard Acura RDX model without anti-lock brakes. For higher-end trim levels, DOT 4 brake fluid is required. Consult your owner's manual to determine which model you have. It's best to use Honda's own brand of brake fluid for optimal performance since they make Acura vehicles. Make sure to buy enough quarts to completely fill your brake fluid reservoir, which typically costs between $15 and $30 in total.
The 2020 Acura RDX requires Genuine Honda Brake Fluid Dot 3 as the recommended brake fluid type.