I've had my car in for this twice now...The solution, temporary probably until the CV joints fail (real problem) is that they tighten the rear axle (half shaft) spindle nut it is a nut held in place by a pin, similar to front wheel axle bearings on some cars.

The problem originally is noticed when you first start off from a dead stop in fwd and sometimes more pronounced in reverse,

I still think it is CV joint, bearing, diff issue, but since this fixes it for now Honda won't consider anything else to fix it. I guess I'm going to have to actually brake something

I think there have been a couple of posts on this in the past, but I haven't seen a permenant fix yet.