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the TCS light will come on any time the check engine light comes on. Pull codes from the engines computer to see why the check engine light is on. Post the codes in the comments below and I'll do my best to assist you further.
TCS is used to control wheel spin by utilizing the ABS system. When a wheel is detected to be spinning more than it should, the TCS triggers the abs system to activate to slow down the spinning wheel. The TCS should only trigger at speeds under 20mph
Use an OBDII scanner, some auto parts stores will do this for you free of charge.
Codes P0300 through P0306 indicate mis-fire and you may also get codes reflecting Cat damage from running that way.
I know of one TL from this series (2000 3.2 TL) which had a warranty REPLACEMENT OF TRANSMISSION!!! free of charge and this very problem was solved. I still do not know why they were related. Talk to Acura customer relations about this.
You need to get to a repair shop and have them read the diagnostic codes (the computer port is in the center console under the change holder/lighter). With that amount of mileage, it is very likely the code will show that the oxygen sensors and/or catalytic converters need replacement. If that is the case you will also need a tuneup (plug, wires, etc). I had this done a year ago at 160,000 miles. It is a pricey repair but I get 29mpg at highway speeds and it runs nicely on regular (less power but no pinging).