I was driving when all the sudden there was a loud bang sound. The differential housing cracked. The when awd is demanded the rear diff was was locking up instead of engaging. Luckily we were just on city streets and not on the highway as this rear wheel locking up could cause a crash. Mazda wasn’t very helpful with the replacement. Luckily I had a aftermarket warranty but it only paid for a used replacement, which is also failing. I have read lots of stories of this rear differential failure across all types of Mazda’s from this era and really wish they would do the correct thing and resolve the problem.