That's what one would expect. But I've had wipers in auto while in FSDb/TACC and/or lane-keep that refuse to turn on. Once I can't see out the windshield well enough to monitor the car and be prepared to take-over, I've broken down and turned the wipers on myself. It might eventually turn off ADAS features but in that game of chicken, I've always broken down first since I'm responsible for driving the car at all times.
The car never refused to stay in an ADAS mode due to poor visibility due to the wipers not turning on.
I have, in other driving conditions, had the car refuse to go into ADAS or warn of degraded performance. It doesn't like fog (this was before my radar was disabled), heavy rain (but I would never ask it to drive in that because of hydroplaning possibilities), and deep dark (really, WTF? this is Canada, we drive in the dark all the time here once we leave the city, that's why cars have headlights.)
Up until April 2023, I never noted an issue with the auto wipers (either dry swipes or not turning on in the rain) but I can't say exactly which update broke them for me. Note, this is the first vehicle I've ever owned with auto-wipers so this is my only experience with auto-wipers. But for the first 2.5 years of owning the car, the wipers remained in auto mode and I never gave them a second thought. Sometimes I had to turn them up, but driving myself or with some mode of ADAS I never had to turn them on when it started raining and I never had a dry swipe.