is it normal for the engine to make a ticking sound in my 2014 acura mdx

Dealer is totally lying to you if a vehicle has a tap or ticking noise something is wrong.

When was the last time you had the oil changed ? Also check oil level maybe low on oil.

Kinda of vague.. "ticking" but engines are normally smooth and quiet in modern well designed vehicles. Honda does have a design issue, The 3.5-liter V6 engines installed in various Honda's can make a knocking or ticking noise at idle and only when warm. The cause of the problem is the rocker shaft bridge has EXCESSIVE clearance from the factory, which causes the rocker shaft to rotate and make noise. Loosen and re-torque the rocker shaft bridge bolts to quiet them down.

Nobody is answering your question by any means. DO NOT loosen and re torque what the factory has already done and surely does not need to be done. Secondly, what are you referring to as "Ticking"? You mean clatter or chatter? What you may be hearing is the injectors or slight valvetrain noise. That's totally normal. Has a diesel like noise to it? ... normal However, you may have to check valve clearance. Intake(.008) Exhaust(.013). Ours are adjusted to spec and they chatter... We tried adjusting them in to quiet it down but it only throws misfire codes thereafter. Spec it, leave it alone pretty much. You have a 2014 Acura...