I drive a 2005 Mazda 3, not sure if the body changed in those two years. My assumption is that yours, like mine, has advanced airbags, and I'm relatively certain you can't touch the front passenger seat but the driver's seat is OK.
RF Britaxes have fit fine outboard. RF MyRide fit fine outboard, but I didn't sit in the front much (we only had the MyRide in that car for a short while). Coccoro fits outboard and center for me driving.
I can't put a RF Radian in that car for an older / heavier toddler. Just can't. In the passenger side it over-reclines without the angle adjuster, and with the angle adjuster I couldn't get it to go much above 45 degrees, making the front seat basically unusable (though I didn't try this too much--I'd already given up on this car / car-seat combo). It's only moderately OK braced behind my driver's seat and I am still a bit too close (I'm 5'8" with shortish legs). Braced outboard behind the driver with the angle adjuster might work, but you'd have to not move the driver's seat. I can't make it work in the center with my height.
I have a very tall other driver (6'9"), so I haven't mucked with the center position much, because his seat all the way back and reclined makes the center impossible for everything (going on the if a coccoro won't fit nothing will fit theory). But I also don't love the center seat belts with the two buckles--they have made some things awkward (though not the coccoro).