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i have no idea what year your car is, but most mazdas ive worked on always seemed to have an egr or intake related problem, especially when an idle problem is involved. when i say intake related problem, i mean something like a MAF or a tps issue. the latest one i worked on was an mx-6, which was having an idle issue like you are. It turned out to be the tps AND the coolant temp sensor. but again every car is different, so i would look into your IAC as well.
i also thought i would mention that in my eyes, mazdas are known for carbon buildup issues so maybe cleaning out the IAC and egr would be a good and cheap start...
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