I find that after the car sits for a while (our '17 MKX does the same thing) the driver's side mirror doesn't adjust itself to the memorized key fob. The seat and steering wheel do, but when the door is closed the mirror unfolds but does not adjust to the memorized fob.
But, if I then lock the car and switch fobs, the mirror starts adjusting itself to whatever fob I open the car with. Since it's happening to both cars I assume it's a feature or a bug. Has anyone experienced this?