I have always heard it called a trailing link or stabilizer bar. They break prettty regulary after 40,000 miles. It's pretty easy to replace and will make a huge difference when traveling on a highway cloverleaf ramp. Just put truck front frame on jack stands and then put floor jack under...
Gently see if you can get the mirror panel to pop off of the pivot assembly behind the glass. Be careful as the plastic clips becomes brittle over time. Once inside the case there is a bolt with a spring that you maybe able to tighten up and return the mirror to normal operation.
The problem you have is the door motor has stripped its gear. You can get a new motor at dealer or possibly online for about 29.00. The whole passenger side rear panel needs removed or at least moved out of way and you might look for a mechanically inclined little boy who can get his hands in...
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