This procedure covers the removal and replacement of a power mirror motor on a 2025 Rivian EDV 500 electric delivery vehicle.

Warnings

Tools required

Parts

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

Preparation

1. Park vehicle on level surface and engage parking brake
2. Disconnect 12V auxiliary battery located in front storage compartment
3. Wait minimum 5 minutes for capacitor discharge
4. Place vehicle in service mode using central touchscreen (Settings > Service > Service Mode)
5. Gather all tools and replacement parts
6. Photograph mirror connector locations before disassembly for reference

Procedure

1. 1

   Remove door panel lower trim
   Using trim panel removal tools, carefully release the lower door panel trim by inserting the tool between the panel and door at clip locations. Work from bottom to top, releasing each clip with gentle prying motion. Remove the lower trim piece and set aside on a protected surface.
2. 2

   Remove door handle bezel and window switch assembly
   Locate the T20 Torx screw behind the door handle pull cup and remove it. Gently pull the door handle bezel away from the door panel. Disconnect the electrical connector from the window switch assembly by pressing the locking tab and pulling straight out. Set the assembly aside.
3. 3

   Remove main door panel
   Remove all visible T25 Torx screws securing the door panel (typically 3-4 screws around perimeter). Lift the door panel upward to disengage it from the window sill, then pull away from door frame. Disconnect any remaining electrical connectors for courtesy lights or speakers. Set door panel aside on protected surface.
4. 4

   Remove door moisture barrier access
   Carefully peel back the moisture barrier film only in the area around the mirror mounting location. Use care not to tear the barrier. If equipped with adhesive sealing tape, use a heat gun on low setting to soften adhesive before peeling. Create enough access to reach mirror mounting fasteners and electrical connector.
5. 5

   Disconnect mirror electrical connector
   Locate the main mirror electrical connector inside the door cavity near the upper front corner. Press the connector locking tab and pull the connector straight out from the mirror motor harness. Note the connector orientation and any securing clips that may need to be released.
6. 6

   Remove mirror glass assembly
   From outside the vehicle, grasp the mirror glass at opposite corners. Apply firm outward pressure while slightly rotating to release the glass from the adjustment mechanism clips. The glass will unclip from the motor assembly. Set aside on a soft protected surface to prevent damage.
7. 7

   Remove mirror motor assembly mounting fasteners
   From inside the door cavity, locate the three T25 Torx fasteners securing the mirror motor assembly to the mirror housing. Remove all three fasteners completely and retain for reinstallation. Support the mirror housing from outside while removing the last fastener.
8. 8

   Extract mirror motor assembly
   Carefully pull the mirror motor assembly inward through the door cavity, guiding the electrical connector and any attached wiring through the access hole. Remove any mounting gasket or seal that may be present and inspect for reusability.
9. 9

   Install new mirror motor assembly
   Position the new mirror motor assembly with any gasket or seal in place. Guide the electrical connector through the door cavity and align the motor assembly with the three mounting holes in the mirror housing. Insert and hand-tighten all three T25 Torx fasteners, then tighten in a star pattern to ensure even seating.
10. 10

    Reconnect electrical connector and test operation
    Connect the mirror electrical connector to the main door harness, ensuring the locking tab clicks into place. Temporarily reconnect the 12V battery and power on the vehicle. Test all mirror adjustment directions (up, down, left, right) and heated mirror function if equipped. Verify smooth operation without binding or unusual noise.
11. 11

    Reinstall mirror glass
    With the vehicle still powered on, adjust the mirror motor to approximately mid-position in all directions. Align the mirror glass clips with the motor adjustment mechanism and press firmly until all clips engage with audible clicks. Test final adjustment to confirm secure attachment.
12. 12

    Reseal moisture barrier and reinstall door panel
    Disconnect 12V battery again for final reassembly. Press the moisture barrier film back into place, ensuring complete adhesion around all edges. Reinstall door panel by connecting all electrical connectors first, then positioning panel on door and seating it onto the window sill. Install all T25 Torx screws and tighten securely.

Reassembly

1. Reinstall window switch assembly and door handle bezel with T20 Torx screw
2. Reinstall lower door panel trim, ensuring all clips are properly seated
3. Reconnect 12V auxiliary battery
4. Exit service mode through vehicle touchscreen
5. Test all door functions including windows, locks, and mirror adjustments
6. Verify no warning lights or fault codes on instrument cluster

Verification

• Power on vehicle and test mirror adjustment in all directions for smooth operation
• Verify heated mirror function activates when rear defrost is engaged
• Check that mirror glass is securely attached with no rattling or looseness
• Confirm no fault codes related to mirror system using vehicle diagnostic menu
• Inspect door panel fitment and verify all trim pieces are secure
• Test door operation including window and lock functions to ensure no interference

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