There is one issue for this fault. The manifold runner control actuator needs replaced and this will solve the problem.
The Mazda Mpv 2000 timing chain
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The 2.5 litre V6 engine in a 2000 Mazda MPV has timing CHAINS
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Break it off.
The Mazda MPV service repair manual for 2000-2001 can be downloaded from a website called 2 Shared. Another site that has it is 4 Shared.
Mazda MPV 2000 (van) standard tires should be set to 35 PSI.