I did some research too, Larry, and it turned out that you can mix any DOT 3,4, 4+ and 5.1 fluids - it's not really recommended to mix different fluids but it will do no harm. But - as you wrote: You can't mix any of them with DOT 5 (something else as 5.1). If a brake system is marked as DOT 5 required you can't use other than that fluid.
Some recommend 5.1 for brake systems with ABS because it has lower viscosity so that the ABS could react quicker and it should be easier to get air pockets out of the system (bleeding). Not my statement but if that is really true it seems that DOT 5.1 is a good advice for the NSX.
And: My former question should be answered "yes" - brake fluids are a synthetic product made of mineral oil as basic - mainly with polyglycol, polyglycoleter or (in the case of DOT 5) silicone.