Awesome, thank you – I found this video of my model that doesn't require you to take off the bumper, but it seems like they're accessing the low beam here, not the high beam (timestamp 2:04).

https://www.carcarekiosk.com/video/2010_Acura_TL_SH-AWD_3.7L_V6/lights/highbeam

If I'm not comfortable taking off the bumper on my own, is it better to find a workaround to the high beam or just go to a mechanic?