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: Cruise Control (Some models)
With cruise control, you can set and automatically maintain any speed of more
than about 25 km/h (16 mph).
WARNING
Do not use the cruise control under the following conditions: Using
the cruise control under the following conditions is dangerous and could result
in loss of vehicle control.
...
Mazda 6 Service Manual: Actuator cable installation
1. Slide the lock lever in the direction shown by the arrow to unlock the
adjuster.
2. Turn the ratchet ring to release lock in the direction shown by the arrow.
3. Install the actuator cable to the cruise actuator.
Caution
Due to the possibility of actuator cable damage, make sure th ...