Just an update, when I took it to Mazda for an oil change and had them check the issue, turns out it was the entire transmission that was faulty. They ended up replacing it at no cost. Problem is gone completely and never came back. The mechanics said it’s very rare but can happen. I was a little bummed ngl that my brand new vehicle (at the time) was delivered to the dealer with a faulty transmission. This should’ve been caught by some type of quality assurance at the Mazda factory in Japan but ohh well, I’m just happy they replaced it. It’s now April 2026 and haven’t had a problem since, so a few years later now and still going strong so all good! Hope this helps someone.