I am fairly sure you are correct here, that you can not lift and leave them away from the windshield.... but with the ability to run the heat on the car from the app, is this needed? I ask this as someone who doesnt live someplace that has to worry about this, but my understanding is, people do what you describe to keep the wipers from freezing to the windshield.
if you can pre heat the car, wont that loosen them, thus this is a non issue if you do that? I believe thats what all the tesla model 3 owners in cold climates do, and there has not been any outcry of "not able to park wipers in up position" in the model 3 section over the years, so I expect this works fine.