CR rates the Millenia highly and it's got all red checks. It's one of their recommended cars. If you shop carefully, you can get a great deal on the car, as they languish on lots. Don't know why! They're good looking, drive great, the S has lots of oomph and gets good mileage.
The only reason it flopped was the fact that Mazda sold them in the showroom next to the Protege. People dropping $45K don't like "Protege" service.
A close friend of mine bought one a few months back, and LOVES it. Not a problem. The service history for the car was good, and there were hardly any warranty repairs.
For the low price of those cars, I personally think they're easily worth the "risk."