The PCV valve on the 2001 Acura TL is located on the top of the rear valve cover. It's easy to replace - simply pull it out by hand and remove the attached hose. You have to remove the black plastic cover on top of the engine to access it.
You can get some general information about a common SES code and see pictures of where the EGR valve is located on a 2001 Grand Am at the follwing address: http://www.gaownersclub.com/forum/showthread.php?t=84396 I am sure these are accurate as they are photos from my own 2001 Grand Am.
If the engine in question is the 4.3l Vortec motor, the pcv valve is located on the driver's side valve cover, near the center. If it is the 2.2l motor, it is also located on the main valve cover, near the front of the cylinder head.