We detail measurements of field-driven expansion and zero-field relaxation of magnetic mirror domains in antiferromagnetically coupled perpendicularly magnetized ultrathin Co layers. The zero-field stability of aligned ('mirror') domains in such systems results from non-homogeneous dipolar stray fields which exist in the vicinity of the domain walls. During field-driven domain expansion, we evidence a separation of the domain walls which form the mirror domain boundary. However, the walls realign, thereby reforming a mirror domain, if their final separation is below a critical distance at the end of the field pulse. This critical distance marks the point at which the effective net interaction between the walls changes from attractive to repulsive.