1. On level ground, jack up the vehicle and support it evenly on safety stands.
2. Drain the oil from the transaxle.
3. Remove the front wheels and splash shields.
4. Separate the drive shaft and joint shaft from the transaxle. (See DRIVE SHAFT REMOVAL/INSTALLATION.) (See JOINT SHAFT REMOVAL/INSTALLATION.)
5. Remove the oil seals using a screwdriver.

6. Using the SST
and a hammer, tap each new oil seal in evenly until the SST
contacts the transaxle case.

7. Coat the lip of each oil seal with transaxle oil.
8. Insert the drive shaft and joint shaft to the transaxle. (See DRIVE SHAFT REMOVAL/INSTALLATION.) (See JOINT SHAFT REMOVAL/INSTALLATION.)
9. Install the wheels and splash shields.
10. Add the specified amount and type of oil. (See TRANSAXLE OIL REPLACEMENT.)
Transaxle oil replacement
Vehicle speedometer sensor removal/installationMazda 6 Service Manual: Drive shaft removal/installation
Caution
Performing the following procedures without first removing the ABS
wheel-speed sensor may possibly cause an open circuit in the harness if it
is pulled by mistake. Before performing the following procedures, remove the
ABS wheel-speed sensor (axle side) and fix it to an appropri ...
Mazda 6 Service Manual: Dtc c1955, c1956
Caution
When attaching the tester lead to the DSC HU/CM connector the SST
(49 G066 004) must be used.
Diagnostic procedure
...