Yeah, recalls will be paid by dealership. Double check with Mazda corperate customer service to make sure that the said recalls are in effect.
They will do the recalls for free even if there is no problems with your car. It's just that if you want to find out the problem after the recalls items are replaced they will charge you a diagnostics fee. So you need to say "I need _____ recall done" NOT "I need to find out what this problem is".
If that doesn't fix your problems then at least you've eliminated some posibilities.