Welcome to the forum.
"3 year warranty had me worried about owning it past 3 years"
Many automakers have the same 3yr/36K B-2-B and 5yr/60K Powertrain warranty.
Mazda's is very typical, though not as good as the Korean or GM, which try to overcome consumers' lack of confidence in their reliability. I predict that very soon, Hyundai will drop
the generous warranty back to the same level. It is, after all, a "calculated cost" to automakers
to offer longer warranty period. (estimated to about about $1000 extra cost for 5yr B-2-B + 10yr powertrain)
Even BMW has only 4 yr/50K for BOTH warranties. You might ask why BMW has no confidence in their own
powertrain. And, yet, no BMW owners seemed to care when they bought theirs.