The frost on the windshield or direct sunlight would trigger the camera sensor error message and not the Front radar system malfunction error. They look similar but the messages identifies which sensor is at cause.
The Radar is in the Mazda emblem at the front of the car. If it is dirty it can trigger the error message (for example it happened to me when there was a thick coat of slush on it in a bad winter day). First step I would take is make sure the front of the emblem is clean. (No dirt, bug, ice, etc).
I have also seen where these malfunctions are triggered by low brake fluid level or worn brake pad (due to be replaced). Think of it has the « Smart brake system malfunction » triggering the radar warning instead of the radar triggering the brake system warning. If your brake pads are worn or brake fluid low at your oil change, i would get those done first before touching the radar, because it may fix the issue.
It may be a bad radar sensor or a bad connection, but they are not too common.