So I did exactly what I said I would. I took off this panel, ground out the rust that was forming around the Mazda badge and a little along the top edge of the trim. I then primed it, and used a Mazda touch-up paint stick. While the touchup doesn't look great - it is largely hidden by the trim piece.
I then used foam tape all the way around the sides and top edge of the trim piece - which, once attached, makes it so the only part that is actually touching the metal is the mounting bolts. If I did it again, I'd probably use a bit thinner of tape because the trim piece now sticks out a few mm more than I'd like. However, I do think it will prevent any future rubbing.
While I was working in there, I noticed (as have others) that the nuts welded to the backside of the liftgate for the licence plate were rusting and then the moisture was carrying the rust down inside the liftgate. Since the nuts were already rusting, I don't think there is much I can really do but I did hit them with rust convertor, then coated them with grease to try to prevent more moisture from getting to them. At the end of the day though, this is a design flaw which will most certainly produce rust inside the liftgate which will eventually bust through the bottom seam one day.
I also noticed that the rubber-coated holes where the mounting bolts for the trim piece go into had a little bit of rust colour around them. So I rubbed the rust off and coated those with grease as well.
Really, there are several rust issues with this liftgate. Everything I did this weekend will only delay the inevitable.