Question: What midsize car produced by Mazda since 2002 was was a competitor to the Subaru Legacy?
Sentence (from "Subaru Legacy"): Part of the original design goals for the Legacy model was to provide Subaru a vehicle in which they could compete in the lucrative North American midsize market against competitors Honda Accord, Toyota Camry, Mazda6, and Nissan Altima.
Relevant evidence: Yes