Question: What midsize car produced by Mazda since 2002 was was a competitor to the Subaru Legacy?
Sentence (from "Mazda6"): The Mazda 6 or Mazda6 (known as the Mazda Atenza in China and Japan, derived from the Italian "attenzione") is a Midsize family produced by the Japanese car manufacturer Mazda since 2002.
Relevant evidence: No