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First of all are your headlights a double filament type headlight? If yes then I would suspect that a power wire to the high beams is broken or shorted. If your high beams are a separate set of lights from your regulars running lights then either the high beams headlights are missing. or has a broken power wire or shorted or...You could check the fuse box under your dash and under the hood of the car to see if you have a fuse for the high beam lights.
Could your Mazda have daytime running lights? If you checked all fuses, did that include the three in the joint box?
There is an auto light-off control module that is central to all functions you describe. It is assumed that you would only turn on the fog lights with headlights on and set for high beam. If you set the headlight switch to LOW, the module closes the headlight relay to turn on the low beams. If you then turn the headlight switch to HIGH, the module turns on the high beams and allows you to turn on the FOG LIGHT switch, closing the fog light relay and turning on the fog lights. Since this sequence is not working, I suggest checking both high beam lamps as both could be burned out. Other possibilities are a defective headlight switch or the module
It sounds like you are confused about how your headlamp system is supposed to work. The DRL does not run on the High beam circuit, it runs on the low beam circuit. The fog lamps are supposed operate with the park lamps and also with the low beams, not the high beams. From your description, I would say that your system is operating as designed and you are having trouble telling High from Low. (Don't feel bad, that is why high beam indicators were invented in the first place.)
Change the bulb. High and low beams are separate bulbs located in the headlight housing. Im not sure on the 07 but the earlier design Yukon (02)you have to pull out a pin located under the hood on the top of the light housing in order to remove it.
First place to start is with headlight switch. I did have a case many years ago when both high beams were blown out at once, but this is rare. When you have the headlight switch out, jump power from te low beams to the high beam contacts. If high beams come on, replace switch.