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USUALLY YOU NEED TO REMOVE THE MIRROR FROM THE CAR THEN YOU WILL FIND FURTHER ALLEN KEY/BOLTS THAT NEED TIGHTENING. ONCE YOU HAVE DONE THIS JUST PUT THE MIRROR BACK ON THE VEHICLE IN THE REVERSE ORDER.
If the mirror housing is loose where it attaches to the door panel, you will probably have to remove the inner (inside the car) door panel to gain access the 2 or 3 nuts or bolts that secure the housing to the door and tighten them.
The driver and passenger side mirrors have a small rubber plug in the bottom center of the mirror housing. Remove the plug and there is a phillips head screw holding the mirror assembly. Tighten this screw about 1/8 turn and it will keep the mirror from moving around. If you remove the screw you can remove the mirror and drive motors. Use a bit of thread-lock to keep the screw from loosing again. Reinstall the rubber plug.
Most mirrors have a removable cover just on the inside of the door. If you look closely where the mirror meets the door on the inside should be a snap in place cover or three screw holes with snap in covers that you remove and then use a screwdriver or small socket wrench to tighten the screws or bolts.
there should be no reason for side mirrors to be loose unless one hit something to make it come loose, rear-ly does that bolt will ever come lose itself. pop the cover off on passenger side with screw driver, do it gentle-ly it held on by plastic tab, then you will see the bolts holding on to the mirror, tight the bolt if its not broken. if need replacing, get one from the junk yard.
On the bottom of the mirror casing there are three screws - one visible and two hidden by a plastic panel. To open the plastic panel use a small knife or screwdriver and pop it open using the small **** on one edge of the panel. Careful - if one or both of the screws are completely loose, they will drop on the ground and most likely end up in that endless black hole where all those socks go when we wash them. ;)
On the inside trim, you can remove screws that are by the door handle,
arm rest, under door and side of door and then gently pull back on the
panel as there will also be retaining clips attached and you don't want
to break them. You'll need to lift the door panel upwards in order to
get it off the window ledge. Then you'll need to manipulate the panel
and disconnect the door handle linkage from the door handle and
disconnect the wiring for your controls. Then you can access the bolts that secure the mirror onto the door