This has happened a lot last year or so but haven't came back latey. I just replaced both new relay (blue) as a precaution.
It only takes 5 minutes and it is not hard at all. The box is located right next to the driver's side fender. I used a plier to pull out the old (black) ones since they bit pretty hard into the fuse box.
I fixed this a couple months back, but I went to one of the local Mazda dealers here in the LA area, ordered and got the relay switches. I think the hard part was opening the fuse box, which took about 2 minutes. The only other oddity was that the fuses that I purchased were a different color than the ones originally installed. I swapped them out, and have been problem free since.