I had this exact problem with our 2003 LX. When turning right into our driveway which has a small dip for the gutter, it would make a popping noise from the drivers side. Almost sounded like a tie-rod was loose. Along with this noise, we has a clicking sound with when putting the tranny in gear and releasing the brake. Mazda fixed it by installing new guide plates per this
TSB.
So far the noise has disappeared, its been 3 days so far since its been fixed.
There's another possible problem, listed here in this
Repair bulletin.
Good luck and let us know if they fixed it!