Perhaps there is way to Boot it back to the original setting. Other than that a new unit. Good luck with it! Let us know. Sorry for your troubles)-:
If you have the Nav system, take out the SD card. There have been problems with the connection to the SD card causing similar looping.
I would forget about the Toyota dealership. Mazda built your car and the system is identical to the system in Mazdas until their recent upgrade. Our system is unlike any other Toyota. Go to a Mazda dealership. You own a Mazda2 with a Toyota badge.
Update the software is nearly always the proposed solution when they have no clue. If it is free go for it as a first guess. It takes 10 minutes and costs them nothing. I would not accept this as a solution unless they have documentation that it fixes a bug and even then, I would want to know why they aren't giving it to you for free if they sold you a defective product.
You can also look to a Mazda3 or CX-5 forum where there are thousands of more customers with similar issues.