The first-generation Legend, introduced to Japan on October 22, 1985, was the first production Honda vehicle to offer only a SOHC V6 engine worldwide.

[5] However, few UK built Legends passed Honda's quality control standards, and many simply ended up being used as in-plant transport.

The major mechanical difference between the Legend and the Toyota, Mazda and Nissan sedans was that the Legend was front-wheel drive, which Honda stated was "quite simply the most logical means to the ends the engineers desired: a true luxury car with a low, aerodynamic hood; a spacious interior with a nearly flat floor, and the superior traction that results from placing the engine and drivetrain transversely over the drive wheels."

This provided the Legend with a front-end heavy 63/37 front to rear weight distribution ratio, similar to the NSU Ro 80.

This also offered an alternative to the traditional Crown and Cedric/Gloria customer base due to the sedan being in the smaller size classification and reduced tax liability but with a comparable level of luxury equipment found in the larger cars, and the same amount of interior space due to the front-wheel drive powertrain, with a wheelbase advantage of 30 mm (1.2 in) over the Cedric/Gloria and Crown.

To address the issue of durability, the Legend was manufactured as a pillared sedan instead of a four-door hardtop, a body style still offered at the time by Toyota and Nissan on the Crown and Cedric/Gloria.

The slightly smaller body style also allowed the Legend to compete with the upscale Toyota Cresta and Chaser and the Nissan Laurel.

The Legend offered many Honda "firsts", such as a driver side airbag, vehicle speed sensitive power assist rack and pinon steering, anti-lock brakes, seat belt pre-tensioners with Emergency Locking Retractors (called E.L.R.

Attention was given to make sure the Legend was quiet, so Honda used computer simulation using NASTRAN, a stress analysis program created by NASA, helping the car achieve a drag coefficient of 0.32 and an interior noise level of 63 dB (measured while the vehicle was travelling at 100 km/h (62.1 mph) using a manual transmission in 5th gear), and by using triple seals around the tops of door openings.

According to an excerpt of Automotive Engineering in January 1989, "The movable wings are positive pressure- and vacuum-operated, their angle changes are controlled by an eight-bit 36-kilobyte computer that also manages fuel injection.

On idling and steady-state cruising that do not require supercharging, the movable flags—or wings—which are fully opened, allow exhaust gas to enter the enlarged nozzle area and pass through the turbine smoothly with little resistance.

The engine was used for just two years, due to the introduction of the second generation Legend in 1990 with the much larger C32A V6, and as such Wing Turbo sedans are extremely rare.

The Legend Coupe was introduced February 6, 1987, with a larger displacement 2.7-liter V6 engine featuring a variable intake system for increased torque and a rear double wishbone suspension which wasn't available on the sedan until 1989 model year.

Starting with the introduction of model year 1988, the trim level "Exclusive" was introduced, offering genuine wood trim provided by Tendo Mokko on the dashboard and center console with a very large selection of available wood type and hues to choose from, automatic headlights, headlight washer/wipers, separate rear passenger climate control, and chrome-plated power folding mirrors and door handles with infrared remote keyless entry.

October 14, 1988 saw a minor restyle offered for the interior and dashboard, to provide a more luxurious appearance in comparison to the Nissan and Toyota uplevel sedans the Legend was competing with.

Due to the success Honda had with the Legend, it served as an inspiration for many vehicles from multiple manufacturers, including the Subaru Legacy with which it shares many visual resemblances and dimensions both inside and out.

The "Alpha" was very well equipped, offering ABS, leather or 100% wool moquette upholstery, projector beam headlights, and dual-zone air conditioning.

During this period, Honda had a loose alliance with Daewoo, and the Arcadia was larger than Hyundai Grandeur and Kia Potentia competitors.

At the time of the Arcadia's introduction, it had a large engine for a car in Korea, with a 220-horsepower V6 3.2 C32A, and the starting price was a high 41.9 million won.

The third generation Legend appeared on October 26, 1995, continuing the Honda tradition of front-wheel drive, and increasing the engine displacement to 3.5 L with the horsepower remaining at 215 PS (158.1 kW; 212.1 bhp).

In Japan, the Legend continued to compete with the Toyota Crown, the Mitsubishi Debonair, the Mazda Luce, and the Nissan Cedric and Gloria at the executive sedan segment.

Among the usual upgrades, the Honda Legend offered some additional optional safety features, including Lane Keeping Assistance System (LKAS).

The LKAS could actually make small steering adjustments to keep a car in lane so long as the radius of the turn was more than 220 meters, which was the legal minimum in Japan.

The infrared cameras do not require a light source, and the software is able to detect human like figures, surround the image with a red box and give audible caution tones.

An actuator will pop the hood up at the rear, close to the base of the windshield, 10 cm (4 inches) to help minimize pedestrian injuries, especially head trauma.

All markets feature energy absorbing hood and fender supports and deformable windshield wiper pivots to minimize pedestrian injury.

The SH-AWD all-wheel drive system was lauded by Popular Science as one of the best automotive innovations of 2004, and earned the 2005 "Tech Car of the Year" from CNET.com.

Regarding sales of Japanese luxury flagships during the first six months of 2010, Acura has sold only 872 RLs, compared to 5,650 Lexus LS and 6,602 Infiniti M sedans.

The fifth generation Legend was unveiled in Japan on November 10, 2014, and went on sale on February 20, 2015, it is near identical to the Acura RLX and only available in Sport Hybrid.

2020 was the final model year for the North American Acura RLX due to low sales, with no direct successor planned.