Bluntly speaking, the Mazda 5 spd. is a piece of crap. I really like my Explorer except for the trans. AS I much prefer a manual for 4wd usage over an auto., I'm stuck with it.
Mine went south at 74,750 miles (vehicle had a 75,000 mile extended warranty-how lucky can you get!)when it started to grind upon shifting into 1st, probably due to earlier poorly done clutch jobs by my dealer. At that time they replaced the 1st-2nd gear syncro and shift fork and some other minor stuff. They did another overhaul 3500 miles later to replace all the bearings that should have been replaced the first time. It's still noisy (like steel marbles floating around inside!). So far the dealer refuses to do anything more(they have to be Ford's worst!; but they are the only one where I live). The noise level hasn't changed in the past 9,000 miles and I still have another 3,000 left of warranty on the last trans. overhaul.
My advice: Change the trans oil frequently, every 3rd or 4th oil change is not too frequent! Don't speed shift or slam gears, and
DON'T TOW ANYTHING. If you look in your owner's manual, Ford rates the manual trans. for a much smaller towing capacity then the auto.trans.( so they know it is weaker but won't actually say so!)
I also add a friction reducing additive to the oil. Don't know if it helps, but it can't hurt!