I have had 5 or 6 side mirrors replaced when they wouldn't adjust or fold. Additionally. the PAX door controller had to be replaced once. Fortunately all were under warranty at +/- $500 each. If it happens again, now that I am out of warranty, I will most-likely adjust them and leave them alone.
My 2001 LS430 has the same issue, at times. Usually occurs after car is washed. I had taken it to the dealer once, but they said there was nothing they could do. Sorry can't help!