DTC P0706: Transaxle Range Switch Circuit Open: Description
WARNING: This page is about a different car, the 2002 Mazda 626 and 2001 Mazda 626. However, it is still accessible from the selected car via links, so may be relevant.
DTC will set if "D", "2" or "L" ranges from transaxle range switch are not input to PCM after 100 seconds or more after engine speed has reached 530 RPM or more, and vehicle speed is 12 MPH or more.