My 2021 articulates the passenger side mirror to look down in reverse. Drivers side stays looking back. Makes sorta sense for parallel parking but my wife's es articulates both. Not worth fixing if both are supposed to articulate, but curious as to how it is supposed to be.

 

You need to put the car in reverse then set both the side mirrors to your desired reverse positions (at least this is how I did it in my 2017). Also I have noticed that either the left or right mirror needs to be selected on your door panel mirror adjustment controls when shifting into reverse for the mirrors to adjust.