There are a few mentions of Senna in Brian Long's book, but only fleeting (like he helped test the car...). The only reference I could find about Senna's involvement was via Wikipedia (so there's always doubt about its provenance) - I would guess that Kaz will know more than most?
The article that was published in Octance last year, said:
The great driver was a Suzuka regular, and so when a McLaren testing session coincided with one of Honda’s in February ’89 the road car engineers were keen to get him behind the wheel and see what he thought. After a few laps in the 250bhp Legend-engined prototype, he came back with the feedback: ‘I'm not sure I can really give you appropriate advice on a mass-production car, but I feel it’s a little fragile.’
By that, he meant that the torsional rigidity of the body wasn’t up to par, and although Honda had built a shell as stiff as Ferrari and Porsche’s it still needed beefing-up. Honda went back to the drawing board and re-engineered the hull, making it 50% stiffer – even at this late stage in the NSX’s development Senna had made the difference. Impressed by his input, Honda invited him back to dial-in chassis improvements in the run-up to full production.
So it's possible that Senna's input stopped the early NSX being a wallowy Yank tank but who knows how much input he had in anything regarding the philosophy or the handling of the car? Still: good that Honda listened to him...