AFAIK it all boils down to the fact that during embryonal development our cells, which at that point were just a blob of undifferentiated autonomous chemical machines, somehow managed to unanimously agree upon the cardinal directions (up-down, left-right, front-back) for future development - and thanks to this, we don’t have toes growing out of our ears.
If an embryo decides to split in two, and then sends out the marker that “this is the right side” and it’s too close to the other embro, there will be a set of identical twins, but one will have the heart on the right side, appendix on the opposite side etc. This needs to be known if the “mirrored” person has a colonoscopy, since the colon is folded the opposite direction.