2000 Mazda MPV automatic transmission won't shift into 3rd.
The trouble with automatic transmissions, in cases like these, is that you may not have a choice but to have the transmission removed and disassembled to find the problem. If all that happened was a loss of fluid, it is unlikely something as simple as an external sensor or a linkage problem is going to cause your issues. At the very least, the pans would need to be removed and inspected for large amounts of debris. Even without loud noises, it doesn't take long for internal aluminum parts to wear or break when not properly lubricated.
With the pans removed, you can also inspect (and/ or change) the fluid filter. If there are no large pieces of metal found in either or the pans, there is a small chance you may be able to bring the van back to life. I have had moderate success using Lucas Oil Products in the past and use them quite a bit in my shop.
Keep in mind, this is a gamble and could cost as must as $250 for parts and labor (if you're not doing it yourself).
With the pans removed and no large debris found, remove the filter and let all of the fluid drain for at least 15 minutes. Then use spray parts cleaner to completely removed all dirt and old fluid from all the parts you can see.
Then install a new filter and pans with new gaskets. DO NOT use silicone sealer if the pans call for a gasket. This only breaks down with fluid and plugs filters.
At any parts store, find 2 quart bottles of Lucas Transmission Stop Slip. It's a little costly, but I've seen it bring worn transmissions back from the dead. It is also important to use high-quality, name-brand fluid. Most parts stores carry a store-brand, which is made by the same company that makes Valvoline. I use them every day and have never had a problem.
Add 3 quarts of transmission fluid to begin filling. Start the engine and idle for about a minute. This will begin priming the transmission pump and filling the torque converter. Stop the engine and add the 2 quarts of Lucas additive. The additive is very thick and will drain very slowly in cold temperatures. Keep the bottles inside and warm until you are ready for them. Once they are both completely drained into the transmission, start and idle the van for about 10 minutes to get warm. While idling, apply the brake and shift to reverse, then neutral and then to drive several times. If the transmission does not engage right away, check the fluid and continue to top off with fluid until it is at the full COLD range.
Once the transmission is full and the engine is warm, test drive the vehicle. If this procedure is going to help anything, it should start to take effect within 100 miles. If it doesn't happen right away, don't panic. Just drive the van normally without any sudden acceleration or stopping (hard acceleration can cavitate the pump due to the thick additive) until you start to see a change.
I know this seems like a lot of work just to "try" and keep your van going, but I've done this on multiple vehicles in the past. Again, it is a gamble...but it may just pay off. My shop typically charges around $200 for this service, but a replacement transmission could run in the range of $4000.
Good luck!!