I'm going with the sway bar. I had one with a linkage that broke on my '03 Protege once and it made a racket similar to that one. Acceptable for a car with 130k miles. Not so with just over 15k.
Sounds like the car maybe telling on someone. Suspension components rarely fail this early. I'm guessing someone drove into a monster pothole or accidentally drove over a curb or some other obstruction that caused some damage.
Ugh. My partner has a last gen Mazda3 and I want to drive it into a wall because we can't make the rear sway bar chatter go away, and neither can my mechanic. Sad to hear it's apparently in this gen as well.
Sounds kind of hollow...you sure this is not something like an exhaust system part - maybe a cat heat shield? Maybe some loose underbody cladding? The fact that it's amplified by the parking garage structure makes me think it's less likely to be a suspension noise, which would be amplified more through the structure of the car, and felt also rather than just heard. That you did not notice this until you had the windows down makes me doubt suspension part.
I would expect a loose sway bar or suspension bit to make more of a knock noise. This noise has a long ring down character to it (i.e. fairly underdamped). So, I would think more along the lines of what fordson1 suggests
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