I had a 1998 Dolphin on the Ford F53 chassis and towed a Honda CR-V with no problem. I believe your hitch is rated at 5000#. As far as the Mazda goes, check your owners manual. It will tell you if it is towable or not. All vehicles are towable IF you spend enough money on them. REMCO, the towing experts, can help you there. Driveshaft disconnects, transmission lube pumps, etc. make almost any vehicle towable.
Motorhome Magazine's 2012 Dinghy Towing Guide just came out. It lists towing limits (yes/no) for most vehicles. I do not see Mazda even listed!
Also, check the
The Dolphins website for the National RV (Dolphin) Club nearest you. Great clubs, nice people and a GREAT source of info on your coach!
Good luck, and...............
Happy Trails!
Darryl