After driving, when I put into park, engine idles at 1300 RPMS It takes a minute or 2 to drop down to 800 RPMS Dealer said no codes. I worry about putting back into gear at the high RPMS. 59,000 miles 2021 CX-5 Touring.

 

Does it happen when you are doing short trips?

 

Welcome to the forum

You need to be more specific when it does that?

Many of these require some experience with servicing them and equipment to properly test and check them.


To name a few.....
Causes @ 60k miles that may not always show a DTC:
Dirty IAT
Dirty MAP
Dirty air filter
Dirty throttle body intake runners
Air intake leak
Dirty connectors on any sensors support the air intake charge information to the ECU
Faulty Transmission temperature sensor or connector
Faulty Ambient Air temperature sensor or dirty connector to or the sensor itself

 

It happens when driving on the Highway, let foot off accelerator and RPMS do not drop reasonably fast

 

If this event is somewhat new for your Mazda

Then:

ASE