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I took my 2020 CX3 in to Mazda service today for this exact same issue and the service Foreman knew exactly what it was as soon as I had described the issue. Came out to the car and confirmed it by feel, then took it in to the workshop and confirmed it was the steering assist motor. Apparently, Mazda now have a technical bulletin issued for this. The car was still safe to drive, but they have ordered the part and it will be repaired under warranty.
 

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Oh this is awesome! They knew straight away.. took them 5 months for me!!
I guess I should thank you for doing the hard yards on this - I'll admit to having a certain amount of trepidation booking the car in for this, and even the service receptionist told me it sounded highly unusual, but like I said, the service foreman was almost nonchalant about it telling me straight away that he thought it might be the electric power steering assistant motor. Remains to be seen if this will be a permanent fix for the issue but I'm optimistic at this stage.
 

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I had the work done last week to correct this issue. The parts took nearly two months to come from Japan and then we scheduled the work to coincide with a regular service. They replaced the electric power steering motor and the associated steering shaft components. They didn't tell me at the time, but it turned out that the work was so extensive they needed the car overnight, and then they broke a component associated with the drivers air bag reinstalling everything and had to wait for part come in, so we were without the car for over four days. Having said all that, the issue is no longer apparent and I'm hoping that it won't reoccur
 

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My wife and I are experiencing this issue as well. Does anyone know the bulletin number or if there was one? We have a 2021 CX-3 with 6k miles on it.

my dealer is telling us to adjust the telescopic steering wheel. Getting the runaround….
Someone posted the full North American bulletin in a different thread on the same subject in this forum - it was Kimmy2000 but to save you the trouble it was bulletin 06-001/20
 
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