A slight noise is normal as the rack is supposed to shift in its bushings when you turn the wheel at idle - the longitudinal load is around 1,500lbs. Of course the wheel should only be turned with the car moving where possible.
Other clunking noise can be from:
- Anti-roll bar linkages loose or worn (ball joints, replace)
- Anti-roll bar binding in the bushings (need lubrication)
The two bushings when worn are visibly so, and easily checked. Trussville Mazda, www.trussvillemazda.com are discount suppliers.
Note that tie-rods, tie-rod-ends & ball-joints are not a particular wear issue on these cars, unlike 3-series BMWs where they are a 60k mile item.
It is worth replacing power steering fluid regularly, every 2 years since it can overheat and so lose lubrication & protection properties for the steering rack. Redline D4ATF is an appropriate Full-Synthetic fluid. Replacement procedure is syphon the old fluid out of the reservoir, pour in the fresh, drive the car for a few days and repeat until the old fluid has been diluted.
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