I like the 25k interval idea. I might have to start doing that myself.
One thing you have to remember about the RL, and I am sure it's the same with other Honda vehicles, they are very fluid sensitive...for lack of a better term. You really notice the difference in performance of the vehicle if you keep up on your fluid changes.
I recently got a reminder from a local garage that my tranny, transfer case, and VTM fluids needed to be changed. I could have sworn I just did all 3. I checked my maintenance schedule and, sure enough, I needed to do all 3...as I had just gone over 35k since my last tranny fluid change (at that time I did the change, run it for a couple weeks, change, run it for a couple of weeks, change thing).
I did notice that my gear changes had been a bit hitchy as of late, so I went onto eBay, bought myself 3 quarts of tranny fluid (I had another one in my garage), and did the change. It took a little over the 3.3 quarts that is normal for a tranny fluid change...it took a bit over 3.6 quarts to get it to the full mark...and I immedialy noticed an improvement in shifting. No hesitation any more, and the shift changes were much more crisp and decisive...for lack of a better term. No more hitchy/jerky shift changes.
So, long story short...yep, keep up on your fluid changes, and your RL will be much happier. I am at 173,000 right now...and getting to 200,000+ should not be a problem whatsoever.