The mirrors on our 2006 LX470 would fold in, but most of the time they wouldn't fold back out. I could temporarily fix it by taking the switch out of the dash, unplugging it, and plugging it back in. Finally this wouldn't fix it. I read a post or two about people having luck with replacing the switch so I bit the bullet and ordered one. I installed it a couple of weeks ago and the mirrors have been folding in and out ever since. The switch wasn't cheap around $165, but it comes with the mirror adjustment switch as well. We had similar issue with our 2000 LX470 and dealer told us that you had to put new mirrors on to fix it and gave us some ridiculous quote of over $4000 to replace both mirrors. The fold in mirrors have been the only item on our two LX470 where I think Toyota/Lexus has dropped the ball. I have fold in mirrors on my 2003 Sierra and have never had an issue. The width of our two vehicles makes the fold in mirrors a must have option in our garage. Hope this helps someone else.

Oh man - maybe I should just preemptively disable mine... (you can unplug them, yes?)

Do you mind telling how you do this? Coz mirrors on my car are stuck in the folded position. I have to manually unfold them, but hence they are now unfolded but "unlocked" in that position, meaning that even the gentlest touch would move / "fold" them. I thought of giving your method a try before forking out for a new switch.
Thanks.

The switch panel that has the mirror adjustment switch and mirror fold in/out switch pulls out of the dash. I used a small flat head screwdriver under the bottom of the switch to get it started and then worked on the top of the switch. Once out the two wiring harnesses just unplug from the switch panel. You can use masking tape to protect your dash as you pry with the screwdriver.