I took my RDX into the dealership on Friday evening. They stated they were aware of the issues. The issue isn't one-sided, it is on both parties (Acura and Apple). They did reset my infotainment system to factory defaults. That action seems to have changed the symptoms I experience.
Before resetting the infotainment system:
Start car, wait until infotainment fully loaded. Plug in iPhone X using a genuine Apple cable. After driving ~1-3 minutes, CarPlay would disconnect (the phone would continue charging). Waiting another 1-3 minutes, the phone would reconnect automatically. If driving for sufficient amount of time, this would happen several times before it would eventually remain connected.
After resetting the infotainment system:
Start car, wait until infotainment fully loaded. Plug in iPhone X using a genuine Apple cable. After driving 2-5 minutes, the Acura CarPlay app would stop responding (error message displayed on the infotainment screen, not on iPhone). It would take significantly longer to reconnect.
I have not driven very far since Friday, so more testing will take place over the next week or two.