I've been through this on both sides now.
About a year and a half ago the passenger side would stick intermittently, could be either opening or closing. Of course when dropping if off at the dealer service desk, the mirror worked fine. They kept it for the day to test but of course they "couldn't replicate the problem". I got lucky when picking up the truck from the service advisor when the mirror jammed right in front of him. It did take about 2 weeks for the dealer service manager talking back and forth with "GM regional" to finally get approval to replace the mirror under warranty.
As soon as I folded the mirrors with the new one on the passenger side, there was a noticeable difference in speed and sound between the smooth, silent new one and the slow, groaning driver's mirror.
Jump forward to about a month ago. Driver's side mirror has gotten slower and 'groanier'. Every morning I would video it unfolding to try to catch it sticking. It finally happened and I got it on video. Took it in to the same dealer. Different service advisor. I hit the button to demonstrate the bad mirror, of course it works fine. But... the advisor says he can immediately tell the motors are bad and it needs replaced. No questions, no arguments, no "we'll see if we can replicate". Done.
Driver's mirror was replaced yesterday, works smooth, quiet, fast.
Lucky... as it has 35,820 miles and 35 months 18 days on it.
If your mirrors are sticking or are slow and noisy.. and you have warranty coverage... take it in. Get it on video if you can. But at ~$1k each, don't take no for an answer.