Move the switch to either the right or left side position as if you were going to adjust the mirrors. Then that side will tilt. You can only choose one side to tilt. If in center position on 07- there will be no tilting. In center position on 01-06 touring, only right side tilts.
Steering wheel is most likely stopping its movement because you are moving the gearshift selector, most auto adjustments are disabled when selector is not in 'P' range.
'06 MDX Touring amazon/ebony