The Mazda. The mileage difference is significant, and since you don't drive a lot it will remain relatively low for a long time, promoting longevity as long as you maintain the car properly. Drive them both, but you're likely to find the Mazda handles and generally performs better; the Lexus may have a slightly softer ride and be a little less responsive, being tuned for "luxury" more than for performance. The newer car is likely to have superior tech, but that depends on the specific trim and options each has. The Mazda will have more warranty remaining, if transferable to you. Lexus make fine vehicles, but so does Mazda.
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