1. Inspect the dust boot on the drive shaft for cracks, damage, leaking grease, and looseness in the boot band.

2. Inspect the drive shaft for bends, cracks, and wear in the joint or splines.
Joint shaft disassembly/assembly
Drive shaft removal/installationMazda 6 Service Manual: Blind Spot Monitoring (BSM) (Some models)
The Blind Spot Monitoring (BSM) is designed to assist the driver in checking
the area to the rear of the vehicle on both sides during lane changes by notifying
the driver of the presence of vehicles approaching from the rear in an adjacent
lane.
The Blind Spot Monitoring (BSM) detects vehicle ...
Mazda 6 Service Manual: Audio control switch removal/installation
Note
The audio control switch and the cruise control switch use a
common connector.
1. Disconnect the negative battery cable.
2. Remove the driver-side air bag module. (See DRIVER-SIDE AIR BAG MODULE
REMOVAL/INSTALLATION.)
3. Remove the steering wheel.
4. Remove in the order indicated ...