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: Dtc clearing procedure
1. Start the on-board diagnostic test mode. 2. First press the POWER button, then simultaneously press AUDIO CONT button for 2 seconds or more. Caution Before clearing the DTCs, be sure to enter all of them displayed in the on-board diagnostic test mode in the Audio Repair Order Form. ...

Mazda 6 Service Manual: Steering angle sensor inspection
With DSC 1. Remove the column cover. (See COLUMN COVER REMOVAL/INSTALLATION) 2. Disconnect the steering angle sensor connector. 3. Connect battery positive voltage to terminal A and ground to terminal F of the steering angle sensor. 4. Turn the steering wheel to the right and left, and verify ...