My 2016 S75 driver's side mirror started having this problem immediately after a software update a couple of months ago.
The motor would stall and shut off before the mirror was fully extended. The mirror would be half-extended and rather floppy on its pivot.
SC replaced the mirror. Problem recurred within two days.
Activating the switch to roll down the driver's side window would sometimes cause the new mirror to awaken and finish extending. But that "fix" no longer seems to work.
The only reliable way to extend the mirror now is to grasp it by hand and apply gentle outward torque while the motor is extending it. That always works, but it's an impractical workaround.
My guess is that the mirror pivot is tight, causing the motor to draw more current than expected while extending. The firmware apparently treats this high-current condition to mean that the mirror is fully extended against its stop.
SC will make a second attempt to fix it today. They have a good attitude about fixing it, but seem to be completely unaware of this thread and other similar ones.