TCS Light

TCS means Traction Control System. Being that the light's on shows there's a trouble code which could lead you to the TCS problem. That the engine surges could be completely unrelated. Your Millenia S is a very sophisticated and complex car. I'd need more iformation to discuss engine surging. It's a good idea to check that the air cleaner is OK and the duct connections are tight, intake air duct not cracked, etc. Sometimes the EGR valve will stick on these cars, when it's running tough, try tapping on the EGR, if it helps, the EGR is sticking probably from carbon.. Also, is your check engine light coming on? Checked the sparkplugs? Are the sparkplug wells full of oil? If so, you have valve cover leaks and the oil shorts out the plugs. There's no way to estimate a repair with the information you have given me. You'll have to get the trouble code read and that will give you some good information. http://repairpal.com/mazda-repair-in-cape-coral-florida