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I don't know about the Scenic, but my two Laguna II's have both worked differently.
On the previous one (02 Privilege) you had to manually pop the mirrors back into the correct positions with the switch not set to the 'retract' position. They'd be fine after that.
On the current one (55 Initiale) if you turn the switch to the folded position, they'll fold in (with a couple of loud clunks if they're out of alignment) and then deploy correctly the next time you set the switch to a different position.
The Peugeot idea is excellent, but it makes me wonder if it's responsible for the high rate of mirror motor failures on these cars. After all, the mirrors are folding every time you lock the car, not just when you decide that it's necessary.
Currently in Horatio's garage:
2010 Laguna III Initiale.