On my 59plate FR the mirrors will fold in after holding the fob locking button down for 3 secs.
But this seems dependant on if the window buttons have been played with or not!
Now I find to make auto fold mirrors work properly, I need to make sure the windows are all the way down and then press, hold and release the window close buttons (in the car) so that the windows then go all the way up by them self. Once they reach the top position and stop, that is where they need to be for Auto fold mirrors to work!
BUT!!! If someone then pushes any of the window close buttons (in the car) again and the window then jumps up a tiny amount. This seems to stop the auto mirrors from working!
So you then need to repeat with the windows if the Auto folding stops.
If not I've found you can hold the fob unlock button till the windows are all open, then press and hold the fob lock button TILL the windows are all closed. The wing mirrors should also fold in at the same time and the windows will all be in the correct position for the auto fold mirrors to work when you hold the fob lock button for 3 secs!
Again If the window buttons are then fiddled with, this seems to stop the auto function from working! So you know what to do.
Hope I have helped any of you and have not made my description to complicated.