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Is this a major problem?
As my car is still driving okay.
Is it something that is going to cause me major headaches.
Should I get a new sensor?

what code u getting?

If you are getting a crank signal sensor I'd replace the sensor. It is easy to get to, but I don't know what Mazda will charge for the part.
However, you might have a disty that is going out and that is why you are getting the code. The disty has a cam position sensor that has a very similar function to the crank sensor (tells the ECU when the piston is at TDC). That one is about 300-400 dlooars to replace the disty, so lets hope it is the first. Also, usually if the cam position sensor is going you'll know b/c the car will run very rough.

I am getting a code 02,
Is there a way I can work out if it is the sensor or the distributor?

You would be best getting a mechanic to check it for you. The best way to check either sensor is with a wave legnth tester (I cannot remember the real name of the tester, wave legnth is not it..). The testers are expensive.
Basically they are all high-end multi meters. Go for about 150 last I checked.

The online shop manual has the testing procedures and tolerances.

Now that I say that, you might be able to do a Ohm test on the crank sensor. Check the online manual and see what it sais. If a Ohm test will work you can get a cheap multi tester and do that yourself.

I'm parting out my car soon..I had the cam shaft postion sensor and disty change out about 5000 miles ago. The sensor is 249 I believe from mazda (only place you can get one) if you're looking to save yourself some money I could sell them to you and save ya some bucks . Email or pm me and lemme know.