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: Jacking positions ,vehicle lift (2 supports),safety stands (rigid rack)
positions
Jacking Positions
Warning
Improperly jacking a vehicle is dangerous. The vehicle can slip
off the jack and cause serious injury. Use only the correct front and rear
jacking points and block the wheels.
Use safety stands to support the vehicle after it has been lifted.
Fro ...