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Parking Brake Adjustment

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Does anyone know how to adjust the parking brake? The parking brake on our RDX barely does anything. The dealership says nothing is wrong, but we've driven off several times with the parking brake on not realizing it because there is almost no difference. I was going to do the minor adjustment like the last gen RDX has, as well as a few other Acura models that I've seen, but there was no adjustment nut on the cable by the pedal, at least that I could see/feel. Does anyone know how to adjust the parking brake to actually hold the car, or is it even possible to perform a "minor" adjustment? It isn't an issue to adjust them at the wheel, but I'd like to avoid that if there is another way. TIA.

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