Dan – this is something that’s quite common with air forks, especially RockShox.
I think it’s clear that the problem is not related to sag as you’re saying you have to ‘pull’ them out, rather than they settle back to 140mm.
In the bottom of the fork is a nitrogen charged ‘negative spring’ chamber. This helps push the fork back to full travel after it’s been compressed. The negative spring can become flooded with damping oil at which point it will stop acting as a negative spring and the fork will sink into its travel by about 10mm.
You should be able to get this fixed under warranty, but it will need to go back to the distributor for the work to be done. If it’s not under warranty, then you can send it directly to TF Tuned.