Not with Acura's approval, anyway. It would void the transmission warranty.
That said, the 5 speed auto is a Honda tranny and should be towable like most other Hondas if you follow the emergency towing isntructions in the owner manual. The 6 speed is an unknown as far as towing is concerned - try it at your own risk.
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL