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: Traction Control System (TCS)
The Traction Control System (TCS) enhances traction and safety by controlling
engine torque and braking. When the TCS detects driving wheel slippage, it lowers
engine torque and operates the brakes to prevent loss of traction.
This means that on a slick surface, the engine adjusts automatically ...
Mazda 6 Service Manual: Contact Authorized Mazda Dealer and Have Vehicle Inspected
If any of the following warning lights or the indicator light turns on/flashes,
the system may have a malfunction. Contact an Authorized Mazda Dealer to have your
vehicle inspected.
...