Sounds like the mounting bolts have either come loose or the doors been forced?
You'll need to remove part of the inner wheel arch trim in order to access to the outer bolts and obviously the inner interior trim to get to the other side. Should take you roughly 30 minutes if you've never done it before. But that's the only way to adjust the door properly. I have heard of a few people using the car jack under the door trick. This is so wrong in so many ways!
Obviously if it's under warranty take it back to the dealer and hopefully it's not as bad as Cruiser89's doors
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