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: Hazard Warning Flasher
The hazard warning lights should always be used when you stop on or near a roadway
in an emergency.
The hazard warning lights warn other drivers that your vehicle is a traffic hazard
and that they must take extreme caution when near it.
Depress the hazard warning flasher and all the turn s ...
Mazda 6 Service Manual: Lane Departure Warning
If the system determines that the vehicle may deviate from its lane, the lane
departure warning (beep sound, rumble sound*1, or steering wheel vibration) is activated
and the direction in which the system determines that the vehicle may deviate is
indicated in the multi-information display and ...