The situation I don't like, but accept, is the audible warning when I'm on a 2 lane highway with a speed limit of 50MPH and the car in front of me makes right turn into a driveway, or side road. The car in front comes to a nearly complete stop before turning and otherwise takes forever. I'm timing my approach so that the car will be out of the way by the time I'm there, but the Mazda behaves as though the car is still going to be there when I arrive and gives the alert.
There is no oncoming traffic, and worst case I would normally just skirt around the car as it gets out of the way to add a little margin. Maybe the Mazda wouldn't complain if I put on my left turn signal.
But there are a couple of times where I felt perfectly safe doing this timing operation, but the Mazda gave me the audible/visual warning BRAKE! that persists after I'm past the car.
I'm generally not an aggressive driver. Usually leave at least 2 to 3 seconds between the driver in front and my car.