There is a lot of information here and elsewhere on how to systematically test developer times and film speed. I've always stayed pretty close to the manufacturer recommendations, and that has worked pretty well for me, in general, for many years.
But, as Mark says, there is nothing wrong in striking out on your own and becoming a test pilot.
If your Acros negs are thin compared to other films, you may have more of an exposure problem than a developer problem. I don't see Acros 100 in Kodak's chart, Fuji may have it though. If not, then it might be best to shoot a couple of test rolls to determine the actual speed, then the best developing time. Keep in mind that shadow rendition comes from exposure and highlights from developing time. Most people find that Xtol produces negatives very close to the box speed, I've certainly found this to be true for Kodak films, but it may not be the case for everything.