Unlike Toyota who tend to have taller gearing for lower NVH and maximum MPG (no sportiness), Mazda on the other hand, is the exact opposite with their zoom zoom motto. The transmission logic is probably programmed to determine your speed and throttle input to determine you want to hustle along so it down shifts to maximize what little power the MZR is capable of producing. Add short gearing to the mix, you get high RPM. BTW, the Mazda's MZR is not new, in fact, is prob as old as any modern engine can get. Internals are a little weak but very reliable. Nonetheless, way past its prime and the newer 2012 is just bored out for more power (weaker block). 'Sky' engines is the way for Mazda.
Revving could be bad if critical fluids are not warmed or maintained (cold, old, or low on engine, transmission, coolant, etc.). If the car is well maintained, not an issue at all. My belief is if you only cruise in the lower RPM, you don't really drive a car, you are just steering it. I read an article many years ago that occasional high revving is good for the car to help break up/prevent deposit build up around the valves. Drive it like you stole it and enjoy the experience. Car's are meant to be driven, not garage queens unless you have a million dollar collectable -that's the way I look at it now.
Attached is another member's (don't remember SN) stock 2007 Mz5 dyno chart, Max HP 111, TQ 113 –ouch! but keep in mind Mustang dyno and Colorado elevation. Point is, not much power on tap so Mazda uses short gearing to make it more responsive under the penalty of NVH and MPG.
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