Yep, my opinion is the OEM Mazda parts are questionable. I had my original set of brakes resurfaced under warranty for pulsation which fixed the issue for a short time then it returned. I got sick of it and had the front rotors and pads replaced at about 30k. They were great for a few thousand miles but now, at 37k, it is beginning to recur. I wish I would have gone with another brand of rotors this time around. The interesting thing is on my '19 non turbo (smaller front rotors) I didn't have these issues in the 20k I had it. I wonder if there is an issue with one/both of my calipers.

I had the same issue with my '20 Frontier and switched the front rotors and pads to Brembo products at 30k and the issue has not returned.

 

On all of my vehicles, with the exception of those that come with performance braking systems, for the first brake pad replacement I do away with OEM and use performance pads, rotors and occasionally calipers.
It is actually a minor price to pay for a huge performance upgrade.
Which is what I did with my CX-5, as I found the breaking the only thing what was lacking on the vehicle.