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.
Lock the adjuster lever.
Courtesy of MAZDA MOTORS CORP.
Place an alignment mark across the break between the steering column and the yoke for the intermediate shaft as shown in the illustration.
Courtesy of MAZDA MOTORS CORP.
Remove the joint bolt.
Courtesy of MAZDA MOTORS CORP.
Remove the intermediate shaft from the steering column.