Yes. It has to be done by 7 years or by 105K miles which ever comes earlier. If you do not do it, there is a high chance that timing belt could break which could lead to major engine damage. Also, if you live in extreme climate or used it to tow or drove in rough terrain, it should be done even earlier. Along with timing belt, get engine mounts, water pump and other belts replaced.
( I sold my MDX when timing belt was due as dealer quoted pretty steep)