I agree if it leaks during warranty Mazda fixes it. On engines I've rebuilt, I find RTV at the corners in several places. The timing cover/ engine block/oil pan is an example. It's common engine assembly practice across the auto industry to use RTV.
To assume that any car will go 5 years and not need some maintenance beyond what Mazda recommends is living in a fantasy. Fantasy, car is the least initial or same cost as other cars and never needs any maintenance beyond what is in the owner manual.
My point, a $20 part is darn cheap. An hour of labor if one is not inclined to follow instructions on YouTube is not out of line. Maybe cost $150 out the door. That is $30 per year or 3 cents a day. One could have this performed at an oil change or when replacing the spark plugs since it not effecting operation.
Estimated Cost to Replace Mazda 2.5l Valve Cover Gasket
I challenge folks to google Toyota and Honda engine seeps oil and see all the different posts. This is not an isolated Mazda issue. Is acceptable? Each owner has to come to their own conclusion.
My 09 Accord seeped oil around the valve cover gasket. I choose to ignore it until the 100K mark when I was adjusting the valves. Oil was not dripping on the ground.
It didn't even occur to me to post on a Honda forum that this is a
massive engine defect and Honda should have a recall. I fixed it and went on.
I followed a YouTube video how to adjust the valve lash and replace the valve cover gasket. I scrapped the RTV off the Honda valve cover and engine head, install new gaskets and RTV on the corners. Poof, no oil seep.
For the those who want to save 2 to 3 cents per day maintaining a vehicle or enjoys pushing ones edges here is a link below.
If the OP was just a bit more humble and lived near by, I would put a new valve cover gasket on his Mazda just for practice. The time it takes to take my car to a shop/dealership to install a valve cover gasket warranty or not, I'll replace it and come out a head.
Valve covers have leaked on many cars engine way back with cork gaskets. The valve cover is a different material than the engine block. It expands a different amount than a cast iron or cast aluminum engine head. It's difficult to seal long term.
My Cummins diesel valve cover has not leaked in 265,000 miles. Hats off to Cummins for this design. The Cummins valve cover is a simple rectangle covering an inline 24 valve inline 6. It's massive, like the rest of the engine.
BUT the Cummins water pump is a 40,000 to 60,000 mile device. The belt tensioner and idler need to be replaced at that time as well. Folks grumble about the water pumps not lasting and it's generally accepted this is part of the charm of owning a Cummins that will go 500,00 to 750,000 miles. I'd rather change out a valve cover gasket then a water pump any day....
A $20 valve cover gasket replaced every 5 years is not a 747 crash......
How to replace a valve cover gasket