Transaxle Oil Replacement

Remove the drain plug with the gasket.
Drain the oil into a suitable container.
Install a new gasket and the drain plug.
Tightening torque 30.0-39.0 N.m (3.1-3.9 kgf.m, 22.1-28.8 in. lb)
Remove the filler plug with gasket and add the specified amount and type of oil through the filler plug hole until the level reaches the bottom of the filler plug hole.

Fig 1: Identifying Transaxle Oil Level
Courtesy of MAZDA MOTORS CORP.

Specified oil grade

API Service GL-4 or GL-5 Specified oil viscosity SAE 75W-90

Capacity (approximate quantity) 2.3L (2.4 US qt,2.0 lmp qt)
Install a new gasket and the filler plug.
Tightening torque 30.0-39.0 N.m (3.1-3.9 kgf.m, 22.1-28.8 in.lb)