Thanks all for the advices, I have got all the 4 struts replaced and got all the joints checked and tightened, still this noise does not go!
however will try to go through the tie rods and the knuckles again, Steering rack mountings seem to be fairly solid, will check these again.
The dealer here seems to suggest that all Mazda 6 2009 seem to have steering rack rattle going over unpaved roads, is it true? seems odd that the whole bunch of cars would have such a problem.