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: Troubleshooting procedure
Basic flow of troubleshooting
DTC troubleshooting flow (on-board diagnostic)
Diagnostic trouble codes (DTCs) are important hints for repairing
malfunctions that are difficult to simulate.
Perform the specific DTC diagnostic inspection to quickly and accurately
diagnose the malfunction.
The ...
Mazda 6 Service Manual: Distance Recognition Support System (DRSS) (Some models)
The Distance Recognition Support System (DRSS) measures the distance between
your vehicle and a vehicle ahead using a radar sensor (front) while the vehicle
speed is about 30 km/h (19 mph) or faster, and if your vehicle approaches a vehicle
ahead more closely than what is appropriate for maint ...