It's never worked right. They did make some tweaks that improved things modestly, but it's still wholly inadequate. I've just learned to live with it. The auto wipers in my previous G37 were far from perfect, but the Model S wipers are very imperfect.
Specific complaints: It will often allow the windshield to become completely obscured without doing anything. In moderate rain it will switch back and forth between intermittent, regular, and high speed wiping at the drop of a hat. If you just start the car and intermittent wipers are already on, and the windshield is already obscured, then it doesn't wipe - you have to push the manual button to kick it off.
My impression is that the threshold for starting the wipers up is too high, then once it's going the threshold for going to high speed is much too low.
Clearly the wiper algorithm does some rain rate averaging; but I think they need a "fast attack, slow decay" algorithm. It's annoying when the wipers run too much, but it's dangerous when they don't wipe enough.