You cannot turn off the auto wipers when autopilot is engaged in any way. They painted themselves into a corner with Tesla Vision before it was ready for prime time. Since they disabled/removed radar and stopped putting USS in new cars the only way for the car to sense its surroundings is the camera. If it senses that the forward camera is obscured it must be able to activate the wipers immediately instead of waiting for you to do it, otherwise the car is driving blind and wouldn't be able to avoid obstacles.