Possible cause

WARNING: This page is about a different car, the 2020 Mazda CX-30. However, it is still accessible from the selected car via links, so may be relevant.

Connector terminal disconnection, poor contact, damage, deformation, corrosion
Adaptive front lighting system (AFS) control module power supply voltage or body ground malfunction
Open circuit in wiring harness between adaptive front lighting system (AFS) control module and connector C-40
Connector C-40 malfunction
Adaptive front lighting system (AFS) control module malfunction