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: Immobilizer system reprogram procedure
Note When an error occurs during the reprogram procedures, except when the PCM is replaced, repeat the procedure from Step 1. If you still cannot reprogram, confirm how many keys can start the engine. Then, perform the key replacement or addition reprogram procedure according to the val ...

Mazda 6 Service Manual: Traffic Sign Recognition System (TSR) (Some models)
The Traffic Sign Recognition System (TSR) helps prevent the driver from overlooking traffic signs, and provides support for safer driving by displaying traffic signs on the active driving display which are recognized by the Forward Sensing Camera (FSC) or recorded in the navigation system whil ...