More knowledgeable people can answer but from what I've gleamed from this forum is it depends on what module and year your van is (I wanted to do this as well).
Assuming you have folding mirrors with the manual knob, if you have an early T6 or a more recent one (2016 and 2018 I think) this can be programed. If, like me, you have a 2017 then the module need changing to allow this to be programed.
If it can all be done I think its a long press when locking to get them to fold.
Yes, I have the 2017 model... maybe thats why I can't see the option..