This is definitely one area I am extremely disappointed on the Mazda. It is a royal PITA to change the oil on this thing.
First, you have to get the little compartment door open for the drain plug. Then you have to put all that back together.
Next remove no less than 5 bolts for the stupid plastic bottom shroud, like it would do anything if someone was silly enough to do any off roading with a CX-7!
Somehow finagle the shroud down and out of the way enough to get access to the oil filter.
Remove the stupid little drain valve from the filter canister and then replace it once it's done dripping oil (this is purely option, keep reading).
Somehow get the freakin' canister off (rubber "Fram tough guard" type material on the outside would've been nice). (I should say, from the factory, they're always a little tighter than they should be, not just a Mazda thing). Let all the oil that didn't drain out spill all over you and the silly plastic shroud. Oh, and there isn't a good way to pre-oil the filter before putting it on.
Replace filter and all the freakin' little o-rings.
Put the stupid canister back on tight enough (which becomes difficult once you and the canister is coated with oil).
Go up top, fill with oil. Oh, and don't spill any anywhere or you'll be smelling oil for the next week.
Go back down check for leaks.
Start the car, check for leaks.
Go back under the car and put the shroud back on (which means find all those stupid bolts that were kicked but you thought you put in one place).
And lastly, pray that everything is tight because there's no freakin' way you'll go under and check after driving around as it requires the removal of those bolts and shroud, etc.
There are your steps. Have fun. And make sure you have all afternoon to do it as it takes an enormous amount of time, compared to any other car I've ever done. The SO was laughing and said "you should've just went to a quicky place". Not a bad idea.
The Grand Prix I have, gotta love V-8's, I don't even need to put on ramps. The drain plug and filter are "right there" in front, easy reach. Oh, and it uses a real filter that you can fill to the top with pre oil as it mounts straight up. Simple. Easy. Done.