Mazda 6 Service Manual: No.20 noise occurs at idle when vehicle is stopped in all positions/ranges

No.19 excessive shift shock on torque converter clutch (tcc)

No.21 noise occurs at idle when vehicle is stopped in d, s, l ranges, or in r position

Other materials:

Mazda 6 Service Manual: Direct Mode
Direct mode can be used for temporarily switching gears by operating the steering shift switch while the vehicle is being driven with the selector lever in the D range. While in direct mode, the D and M indication illuminate and the gear position in use is illuminated. Direct mode is canceled ...

Mazda 6 Service Manual: Viewing the Display
Guide lines which indicate the width of the vehicle (yellow) are displayed on the screen as a reference to the approximate width of the vehicle in comparison to the width of the parking space you are about to back into. Use this display view for parking your vehicle in a parking space or garage ...