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No, they never did because the S2 volume was so low.
The only people who ever did it that I’m aware of made or bought an adapter harness between an aftermarket ecu and the factory harness. For both the S1 & S2 manual transmission models they’re available for Haltech Elite & Nexus, Emtron KV & SL, and MoTeC M1 aftermarket ecus.
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None of these ecu options maintain OBD2 or EPA emissions standards. The only option there is the Mazda ecu if that’s a requirement where you live.
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