Did a fairly long search using current Toyota filter app# and Xrefing using Wix site. I found no Toyota # that fit the 02 MDX (doesn't mean there isn't one). Never found a Toyota oil filter Xref site.
I did find the same Denso number listed above using the First Time Fit site.
As for RA, not a B&M store concept. RA is the Amazon of auto parts. Unfortunately they don't have a $25 (or any level afaik) free shipping trigger. If one buys many parts, combining to make larger orders, you can cut down on the shipping charge effect. But, for small individual order like oil filters, not really cost effective with shipping included.
And with current AAP codes and instore pick up they compare favorably with RA on some auto parts including filters. Even Amazon can have some good deal on some parts like filters with free shipping at $25.