After 36000 miles I decided to drain and fill my ATF. According to the manual, 3.5-5 qt will drain out. I drained a little over 3.5 qt.
Oil - Up to 5qt of Mazda ATF FZ (It's blue then it comes out). I believe I paid about 14.50 at the dealer
Preferably a lift. I rented a 4 arm lift for a total of $14 including use of some tool i needed to borrow and an impact gun to install a part I bought.
Tools needed: 10mm socket, Flathead screwdriver, Phillips screwdriver, a general purpose pail with a measurement scale inside, a long funnel and a new washer (I got it free at the dealership) I believe the size of the drain plug was 8mm, you will need an 8mm allen wrench.
Before you even drain your atf I would get a reading after you've driven it so you know your current level is for a visual dipstick reference later.
1. Remove the dip stick from the reservoir. It's at the bottom front of the engine bay, pictured here. It is held in place by a 10mm bolt (already removed in the picture)