One problem related to automatic transmission has been reported for the 1999 Mazda Millenia. The most recently reported issues are listed below.
Check engine light came on. Vehicle had only 50,551 miles (1999 Mazda Millenia). Dealer said vehicle needed a new transmission-$3175, oxygen sensor$345, cam position sensor and o ring-$850. Vehicle mileage warranty ended at 50,000 miles. Dealer refused to extend warranty for repair.