my side driver side mirror isn't tilting when truck is in gear and I just had

Possible it could be a fuse. I don't have the fuse arrangement in front of me, but your owners manual could point you in the right direction, the more likely scenario is a problem with either the body control module or the mirror control module. Most likely you will need to have is scanned by a qualified shop. I was a former Toyota/Lexus Technician for 12 years before opening my own garage. I would be happy to take a look for you. Feel free to contact me if you would like further assistance. GL