My mirrors also periodically fail to fold/unfold. Usually it's just one or the other, not both. Pressing the button on the door seems to resolve it manually, but it always happens again eventually.
I had it checked out by Tesla a few months ago, and at that time there was nothing they could do. They thought it was a software issue that was fixed several versions ago, but mine still malfunctions every once in awhile. Essentially they said they're limited to fixes provided by Tesla, and the mirrors were still too new to have anything they could do.
Might be worth checking to see if that's still the case. Let us know what you find, though.