The Mazda should have two threaded holes along each side of the frame rail. Tap the holes with the same diameter to remove any rust. However this would require a hitch mount bike rack. Those other racks that sit on the trunk run the risk of causing slight indentations, been there done that.
I have the Thule hitch for three bikes that has held up very well. When selecting hitch type bike rack beware that they can be off centered so mount on the car before purchase. The reason being that the weld points where the tube goes from 0 degrees to 90 degrees. If this weld point is off by a small degree it will show at the end of the tube.
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