My mirrors always folded in perfectly.... until I accidentally folded the drivers mirror all the way forward while backing a trailer into a crowded driveway through a narrow ass gate. (was too busy looking back to see I wasn't still centered, the gate is only about 2 feet wider than the X5 total)
Now when I fold them in they pop back out. I'm pretty confident I messed up the lever for the position sensor of that mirror, but haven't had time to check position status in the GT1 to confirm before taking it apart to attempt repairing it.