This procedure covers the removal and replacement of a power mirror motor assembly on the 2023 Rivian EDV 500, requiring removal of the door trim panel to access the mirror mounting hardware.

Warnings

Tools required

Parts

• Power mirror motor assembly × 1 — Use OEM specification
• Door trim panel retaining clips (if damaged) × 5 — Use OEM specification
• Mirror motor mounting gasket × 1 — Use OEM specification

Preparation

1. Park vehicle on level surface and engage parking brake
2. Open the affected door fully and secure in open position
3. Disconnect 12V auxiliary battery negative terminal and wait 10 minutes for system capacitors to discharge
4. Roll down the window on the affected door to prevent accidental lock-in
5. Protect door sill and interior surfaces with towels or protective covers

Procedure

1. 1

   Remove door trim panel fasteners
   Using T20 Torx bit, remove the screw from the door handle trim bezel. Use T25 Torx bit to remove the two screws at the bottom of the door trim panel. Locate and remove the screw behind the door pull handle cover by carefully prying the cover with a trim tool.
2. 2

   Disconnect door control switches
   Carefully pry the window switch control panel upward using a plastic trim tool. Disconnect the electrical connector by pressing the release tab and lifting upward. Set the switch assembly aside in a safe location.
3. 3

   Remove door trim panel
   Starting at the bottom rear corner, insert trim removal tool between door panel and door frame. Work around the perimeter, releasing each retaining clip. Once all clips are released, lift panel upward to disengage from door top ledge. Carefully pull panel away from door while threading cable connections through.
4. 4

   Remove vapor barrier
   Peel back the vapor barrier membrane carefully to expose the mirror mounting area. Only remove enough to access the mirror fasteners. Note the barrier's position for proper reinstallation.
5. 5

   Disconnect mirror electrical connectors
   Locate the mirror harness connector inside the door cavity. Press the connector release tab and disconnect the main mirror harness. If equipped with blind spot monitoring, disconnect the additional small connector for the indicator lamp.
6. 6

   Remove mirror mounting cover
   From inside the vehicle, carefully pry off the triangular mirror mounting trim cover at the door-window intersection using a trim tool. This exposes the mirror mounting fasteners.
7. 7

   Remove mirror assembly mounting bolts
   Using 10mm socket, remove the three mounting bolts securing the mirror base to the door frame. Support the mirror housing from outside the vehicle while removing the final bolt to prevent the mirror from falling.
8. 8

   Remove mirror assembly
   Carefully pull the mirror assembly away from the door, threading the electrical harness through the door opening. Place the mirror on a clean protected work surface with the mounting surface facing up.
9. 9

   Separate mirror motor from housing
   Using T20 Torx bit, remove the three screws securing the mirror motor assembly to the mirror housing. Disconnect the internal connector between the motor and mirror heater/adjustment controls if applicable. Remove the old motor and transfer any necessary mounting hardware to the new motor.
10. 10

    Install new mirror motor
    Position the new mirror motor assembly into the mirror housing, ensuring the adjustment ball socket properly seats. Reconnect the internal electrical connector. Install the three T20 Torx mounting screws and tighten securely but do not overtighten plastic housing threads.
11. 11

    Install mirror assembly to door
    Thread the mirror electrical harness through the door opening. Align the mirror base mounting studs with the door frame holes. Install the three 10mm mounting bolts and tighten in a star pattern to ensure even seating. Ensure the mounting gasket is properly positioned.
12. 12

    Reconnect electrical connectors
    Connect the main mirror harness connector inside the door cavity until it clicks securely. If equipped, reconnect the blind spot indicator lamp connector. Ensure no wires are pinched or stressed.
13. 13

    Reinstall vapor barrier and door panel
    Press the vapor barrier back into position ensuring complete seal. Align door trim panel with door frame and engage top edge first. Press firmly around perimeter to seat all retaining clips. Reinstall all T20 and T25 Torx screws. Reconnect window switch panel and snap into place. Install mirror mounting trim cover.
14. 14

    Reconnect battery and test system
    Reconnect the 12V auxiliary battery negative terminal. Wait for vehicle systems to initialize (approximately 2 minutes). Use the mirror adjustment switches to test motor function in all directions. Verify mirror heater function if equipped. Test mirror fold function if applicable.

Reassembly

1. Ensure all door trim panel clips are fully seated and panel is flush with door frame
2. Verify all electrical connectors are securely latched
3. Check that vapor barrier is properly sealed to prevent moisture intrusion
4. Confirm all screws and fasteners are reinstalled in their original locations

Verification

• Test mirror adjustment in all four directions (up, down, left, right) from driver controls
• Verify smooth operation without binding or unusual noise
• Test mirror heating function if equipped by running defroster and checking for condensation clearing
• If equipped with power fold, test mirror fold and unfold operation multiple times
• Check for proper mirror position memory recall if vehicle is equipped with memory seats
• Ensure no warning lights or error messages appear on instrument cluster
• Verify door trim panel is secure with no rattles or loose clips

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