1. Verify that the joint shaft is not twisted or cracked.
2. Turn the joint shaft by hand and verify that the bearing rotates smoothly and freely.

Drive shaft
Joint shaft removal/installationMazda 6 Service Manual: Active Driving Display (Some models)
WARNING
Always adjust the display brightness and position with the vehicle stopped:
Adjusting the display brightness and position while driving the vehicle is dangerous
as doing so could distract your attention from the road ahead and lead to an accident.
CAUTION
Do not try to adjust the ...
Mazda 6 Service Manual: Combine sensor initialization procedure
1. Set the SST (WDS or equivalent) to the DLC-2
2. Access the active command mode and select the YAWRATE, then follow the
indication on the monitor.
3. Select the LATACCEL and follow the indication on the monitor.
STEERING ANGLE SENSOR REMOVAL/INSTALLATION
(See COMBINATION SWITCH DISASSEMBLY ...