A soft reset would be exiting the car, and locking the car / activating the security system. Come back in an hour.The mirrors fold in just fine and it will tilt up but not downwards or sideways. I'll see about the fuses but the service advisor was doubtful that'd fix it. I'll check.
I know you fold your mirrors in, I have turning this option off on my car, so if I want to do it, I have to do it manually. I have also turning off the auto passenger mirror function of tilting down when reverse is selected.
Might try turning off those options too?