The main head lamps on our '05 Acura MDX are not great. They're projectors, but the beam throw is not very wide. I'm also not impressed with the lamp output. I literally took the Sylvania H11 XVs out of my Camry and put them in the Acura, and it's not good. The Camry's head lamps are probably the best I've ever owned, so I wanted to see how much of that was the bulb, and how much was the lamp itself. It's apparently all lamp.
The Acura's head lamp lenses are slightly hazed. That will be remedied soon. I think this is a good candidate for an HID swap. I've seen photos of other 04-06 MDXes with HID swaps in the stock projectors and the cutoff is actually quite good, with excellent light distribution. Almost like the projector was designed for HIDs from the get-go, but retrofitted with an H11 base. The squirrel spotters are there, but very dim (unlike those in my Camry, which would not make for a good HID retrofit).
By contrast, the fog lamps on this MDX are quite good. Probably the best fog lamps I've seen. It seems like I can see BESIDE the vehicle at night, the beam pattern is so wide. It's also rather low to the ground, and upward light control is very good. I've had my wife drive it behind me at night and there's no glare from the fog lamps at all. In fact, I can clearly see all the reflector facets and bulb shield in my rearview mirror, which means the light isn't glaring in my eyes (I can look straight at the lamp and see all the details).
As it stands, even with the H11 XVs in the projectors, you almost have to drive with the fog lamps on to supplement the main beams. That will change soon.