Yes it can be done, not with a simple job with VAG-COM though I'm afraid.
Saw a post on audizine where someone had achieved this - He had to fit and wire up a couple of time delay relays and this would fold or open the mirrors as you locked or un-locked the car.
I wish it was! I was thinking of doing this to mine but the time and effort required didnt really seem worth it. Would be nice if Audi had thought of integrating this, My friends Lexus has this feature.
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