2000 Lexus RX 300 window replacement

The driver side rear window was broken in a parking garage. The parking garage has a company which replaced the damaged glass, but now the window fully closes and returns to half open (every time one attempts to close the window).

I called the Lexus dealership to inquire about this, and they stated that they need to open the door panel and adjust the motor for a service charge of 2-3 hours of labor.

Is this necessary? Is there any way to reset the motor without incurring more charges?

Thanks for your help