I figured it out. So I had previously opened my door panels to install new door speakers. When I reinstalled the door panels back on, I didn’t properly reinstall the door locking cable mechanism to one of the doors. So when I went to lock my car, it senses that one door isn't locking itself and therefore doesn’t engage the folding mirrors. Thank god it wasn’t an electrical issue.
To verify that was the issue before I uninstalled the door panel, I manually locked the door from the inside then closed all the doors and used my key fob to lock the car and sure enough it worked. Mirrors folded closed!