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If your warning light is lit, the system is disabled. The light will stay active until the problem is repaired. Most likely you have a wheel speed sensor that is not reading correctly throwing your trac system off.
Read your owners manual on how to set or clear your speed warning. There is nothing wrong with your car.
IIRC, the speed warning is zeroed by holding down the left instrument cluster button for more than one second when the vehicle is moving faster than 3mph. The icon will show with a diagonal bar through it indicating the speed warning is turned off.
AWD vehicles likes its tires to be within 1/8 of an inch wear difference. Uneven tires cause problems with the transmission and drivetrain. ESP traction control with its speed sensors etc: could get varying reading with tires of different thread wear.
Read the manual on the mazda site... it's very helpful. Have you changed tires recently? have a spare on?
"After adjusting the tire air pressures, it may require some time for the TPMS warning light to go out. If the TPMS warning light remains illuminated, drive the vehicle at a speed of at least 25 km/h (16 mph) for 10 minutes, and then verify that it goes out."
Your tire pressure monitor needs to be reset whenever you change or rotate your tires...
1. check and make sure that your tires are inflated to the correct pressure
2. turn the ignition switch to the ON position. If the low tire
pressure warning light comes on, push and hold the tire pressure
warning reset switch (think the switch is in the glovebox, but not sure) until the warning light turns
off and then release the switch.
3. now press and hold the tire pressure warning reset switch until the low tire pressure warning light blinks three times.
4. initialization is *not* completed until driving at the vehicle speed
of 19 mph or over for more than one hour. the tire pressure monitoring
starts when initialization is completed.
I recently had the same problem on my 99 dakota R/T. My symptoms included the abs and brake light staying lit, speedo failing to work at all speeds and the truck would occassionally stall when coming to a stop. I ended up replacing the rear abs speed sensor (on top of the rear diff) and all is well now. The truck runs exactly as it should. You are looking at a $30-$35 dollar part.