I have 4300 miles on our new CX-70. So far, all of the annoyances appear to be firmware-related. The biggest annoyance is not having a key-based driver personalization system. I am 6'4, my wife is 5'7. When she drives the car, the seat is left in her position. I have to squeeze into the driver's seat and wait for facial recognition in order to move the seat back. That is utterly ridiculous and unacceptable. There are also problems with it only partially setting my positions. Many times it will not put the steering wheel in the proper position, even though when I got in, it showed "Welcome, Kevin" and then still brought up the driver personalization screen showing my name selected (which quickly goes away). Then, I have to bring it back up and 're-confirm' my name before it will adjust the steering wheel.
As others have said, the wireless charger frequently says 'unavailable' while my phone is sitting there on the charger. I took a long trip, and it probably happened over 100 times. I also lost my Android Auto once while driving, and I could not restore it, even by rebooting the infotainment system. I had to pull over and turn off the car.
I have an Android, and my wife has an iPhone. Sometimes, while I am driving using Android Auto, it will try to connect to her iPhone. And when switching between the two, it does not always work.
We also have Sirius both in the car and on our phones, and the system fights with us to go to Mazda's music system when Android Auto is up (I prefer to use the car system when in the car).
My wife is constantly complaining about how the iPhone interface works. She said the CX-9 was much better. I think we both wish we had our CX-9 back, but unfortunately it got totaled.
As others have said, there are also a lot of issues with the safety system doing stupid stuff (like warning me of a post in front of me while I was backing out of a parking spot, or warning about a car that is two lanes over when I want to move one lane closer to it).
I am a firmware engineer, and to me it feels like there are a lot of multi-tasking-related and timing-related bugs in the system, especially with the driver personalization system.
If you are reading this, Mazda, please pay attention. I filled out one of your 45-minute surveys and requested that you contact me by phone about these issues, but haven't ever been contacted. If these issues are not addressed, this will be the end of my long-term relationship with Mazda (this is my 7th Mazda). I really want to like this vehicle, but when I am given a reminder of why I shouldn't almost every time I drive it, it makes it rather difficult.