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This is a known problem on Mazda5s - your sway bar bushings need replacement/lube - probably both front and rear sway bar bushings, the front are a lot harder to replace. the noise is more noticeable when cold. Tire wear is also a known problem - rear inner tires tend to wear out soon - because of factory toe alignment for handling - some people have this issue, others don't. What year is the car? -
After continuous suspension-related issue (tires, struts, etc) and headaches, I sold it a month before warranty got expired. The replacement was (and still is) Highlander, a more expensive car, but well worth it: reliable, safe and practical.
Lastly, think about re-sale value. Mazda's is way below its competitors'. As I said earlier, it was my first and last Mazda.