I looked at Mobil, Pennzoil, Valvoline and Castrol.
I found nothing that is formally licensed.
However, I did find this Castrol specifically mentions two of their products as "recommended for use" (meaning they don't have the license, but they will warrant the application):
http://msdspds.castrol.com/bpglis/FusionPDS.nsf/Files/064FD5179C8D0FFD80257AA90053687A/$File/Castrol%20Transmax%20Import%20MV%20_03521_.pdf
http://msdspds.castrol.com/bpglis/FusionPDS.nsf/Files/09DFBB064CCF193E80257BA5006EB93F/$File/BPXE-99LBRT.pdf
I suspect (and I want to note this is my hunch and not fact) that the Mazda "M-V" spec is likely something akin to an import "multi-vehicle" spec. If that is the case, all those brands I list have an import multi-vehicle fluid. You could email those companies and ask if they "recommend" any of their products for that Mazda M-V application.
However, because you're under warranty, I would suggest one of two things:
make the Mazda dealer order in some of their fluid, or ...
use the Castrol, because at least they directly mention the product in their PDS, and they would warrant that application