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I have the same problem since new. now 27000 miles. Mazda & dealer don't think it is a problem. I do. It always happens only in cruise , in 6th gear, anywhere from 45 - 55 mph sometimes it is a 250 rpm jump and sometimes it can be up to 500 rpm. Depending on the load, it can jerk back and forth...

Jerking in 6th at 1500 rpm 50 mph