My 2008 RL steering wheel does not retract when I shut off engine. I never insert the key but leave the remote with key in cup holder.

I do not have remotes programmed to position 1 or 2 and when I open car door with remove, it gives message "Welcome" and not Welcome Driver 1

Does it have anything do with memory programming?

 

I think it's one of the settings in the MID.

 

100% a setting in the MID that can be changed. I hated that "feature" and disabled it the day I got my car.

 

I love that feature. I like having the steering wheel probably lower than most people, so when it retracts away automatically I won't rub up against it while entering or exiting.