Excessive Gear Engagement Shock
WARNING: This page is about a different car, the 2002 Mazda Millenia and 2001 Mazda Millenia. However, it is still accessible from the selected car via links, so may be relevant.
Possible cause: burnt clutch, high idle speed, low line pressure, TP sensor malfunction, TFT sensor failure, pressure control solenoid failure, sticking pressure regulator valve or pressure modifier valve, forward clutch slipping, reverse clutch slipping, low and reverse brake slipping and/or loose engine or exhaust mount.