not sure about a menu option but the following procedure((c) Odie
) worked for me (it's also in the manual)...
1. Start the engine.
2. Engage reverse gear.
3. Select mirror control knob to L (or R for LHD models).
4. Adjust the mirror glass to the position you want when reversing to help see the kerb (this sets the mirror's reversing position in the memory).
5. Take the car out of gear.
6. Turn the mirror adjust to off (the mirror glass should return to the normal driving position).
7. Stop the engine.
If you leave the mirror control at L (or R for LHD) the reversing tilt function is then automatic, just be aware that the mirror doesn't reset to the normal driving position until the car is going forward at approximately 10mph. Also, the mirror resets to the normal position when the ignition is turned off. Otherwise, only select the mirror control whenever you need the function.