So in answer to your question, there was several things wrong with my steering. It had the wrong fluid in, the filter was dirty, the new pump I fitted was faulty and finally the seals in the rack had disintegrated. reconditioned racks are...
On 2006 to 2009 there was a manufacturing problem where they didn’t clean out the racks properly but it still took 10 years before mine failed. When I fitted a new pump it made it worse because that was pre broken. Only way to diagnose it...
I can help you with the mirrors.
Adjust the mirrors to where you want them while you’re in reverse and it should remember the setting. I will have a look at the diagram later for the sensors. What model and year is it?