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What year is your q3? The 2018's will do it automatically from the factory(US Spec) if you use the fob of the convenience key to lock the car.

Or

You can twist the mirror adjustment knob 180 degrees and they will fold in.

MG
 

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You can make it by OBD tools, VCDS, VAS PC, or ODIS.
Driver side: Control Unit 42, Coding, Byte 4, Bit 6 ->Activate
e.g. Control Unit 42, Byte 4: 1C->5C
Passenger side: Control Unit 52, Coding, Byte 4, Bit 6 -> Activate
e.g. Control Unit 52, Byte 4: 1E-> 5E
 

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Make sure your mirrors are positioned at the 6 o'clock setting on the door panel. When you hold the door lock sensor they should fold right in.
 

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I coded them to fold today so happy with it! Now I can’t seem to get the needle sweep ?
I coded my mirrors today despite getting a warning saying that not everything can be coded and to inform Ross-Tech of the problem. I ignored the warning and worked around it. The needle sweep is an easier fix.
 
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