The lights still hit each other, that is a problem there. Are you mechanically inclined or know someone who is?
One possible cause is that the strut rods are not doing their job.
Another one is that on one or more cycles, something got caught on the way down and caused it to go out of alignment.
What I would do, is open the hatch and make sure it will stay there by propping it up with something, such as a ladder.
Disconnect the rod from the automatic actuator at the hatch and at the actuator.
Carefully remove the ladder make sure the hatch doesn't drop down, and try the door using just the struts and see how it is balanced.
Does it stay up?
Is it heavy during the opening and closing movement.
Does it open and close smoothly.
Does the door still rub at the taillights?
If it doesn't work as it should you probably need to replace the struts. There are two different numbers left and right.
There isn't much of an adjustment point PER SE. If it is misaligned if it still hits the taillights in full manual, then either you could try to adjust the whole hatch but you should probably bring it to a body shop.
If you aren't comfortable doing those steps then you probably should bring it to a good body shop or mechanic. A Dealer will be OK but probably charge you more.