Intake CMP Sensor

WARNING: This page is about a different car, the 2021 Mazda 3. However, it is still accessible from the selected car via links, so may be relevant.

Disconnect the negative battery terminal. (See NEGATIVE BATTERY TERMINAL DISCONNECTION/CONNECTION (US) .)
Remove the plug hole plate. (See PLUG HOLE PLATE REMOVAL/INSTALLATION .)
Remove the intake manifold. (See INTAKE-AIR SYSTEM REMOVAL/INSTALLATION .)
Disconnect the intake CMP sensor connector.
Remove the bolt.

Fig 1: Intake Camshaft Position Sensor Bolt With Torque Specification
Courtesy of MAZDA MOTORS CORP.
Remove the intake CMP sensor.
Install in the reverse order of removal.