2008 Mazda3 Hatchbck 155400 miles. I heard a very loud bang from underneath the car close to the hatchback area and smelt what seemed like some burn for 2/3 minutes before and after the bang. I thought I hit something but saw nothing after stopping the car. I checked underneath to see what was wrong, but could t find anything irregular. The burnt smell was gone also. Was it a backfire? No check engine light came on after the event. But my car does have a p2004 code which I deleted a few weeks ago since it doesn’t bother me much. What could be the issue? Should I worry about it? I drove back home for about 10 miles and everything was fine.
You probably did hit some piece of road debris. To be on the safe side and avoid unwanted surprises you might want to take the car to a mechanic who can put it up on a lift for examination.