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You can try cleaning the switch contacts first to see if that is the issue. If you clean the switch and the symptoms remain you may need to rebuild or replace the mirror assembly because the motors inside are failing.
I just went through this on my 2005. My driver mirror would function perfectly except for the up and down. I cleaned the switch and nothing changed. I then ordered a new mirror and once it was installed everything worked perfectly again.
Toyota and Lexus Join Mille Miglia For The First Time
Slideshow: A five-car lineup spanning more than five decades of Toyota performance and engineering will tackle one of Italy's most celebrated automotive routes.