I just bought a 2007 ES350 and spent a day and a half trying to get the Homelink button in the car programmed with no luck. I also have a Genie. Well, today I went out and bought a new garage door remote since I had given up on the programming and would need a remote for the new car. I bought the remote at Lowes. Single button, Genie remote with a 390 mhz single frequency. I came home, programmed the remote to the garage door opener and then just for laughs tried to program the Homelink button again. It worked! Really quick and simple - worked like a charm.
I had read on an Acura forum a post from someone that said your garage door remote needed to be 390 mhz - I don't know what the old one was, but all I know is this worked. The new remote was $29.95 at Lowes.