This may or may not apply to everyone, but here is some info that may help. Like many of you, our brand new 2021 MY had wipers that didn't work properly. Having owned a Model 3 for 2 years, I have a good feeling of how the wipers work (or don't). Luckily, the wipers in the 3 have always worked pretty well on Auto. The Y however was another story. Always running on dry days, not working well in rain, etc, etc. same story as everyone. I had to schedule a mobile ranger to fix some rattles so I also listed the wiper issue knowing Tesla would probably say they can't fix, etc, etc but they would be coming out anyway for the other issue. They even sent a note ahead of the visit letting me know there was no software update or recalibration that can be done. So I wasn't holding out much hope, but figured I would talk with the mobile ranger about it.
So after doing an amazing job fixing all the rattles, we start looking at the wipers and I'm easily able to reproduce the issue over and over again. hot sunny day and they would wipe every time you put it in drive. So we're both standing outside the car looking at the camera and I'm lamenting the fact that Tesla can't use a simply rain sensor for this feature, the light was hitting the windshield just right that I noticed a huge amount of felt dust between the glass and the camera housing! Surely it couldn't be that simply. He had never taken the camera assembly apart but was happy to mess with it and it came apart easily after snapping off a few plastic parts. It then gives you just enough room to get a cloth inside to wipe the inside of the glass. Put it all back together and magic! Wipers now work as well as I would expect them to and have not once wiped on a dry day. We haven't had any rain to do some real world driving in the rain, but issue #1 is gone with the dry wiping. Neither of us could believe how that assembly got put together with that much dust inside the glass. Seems like they would want to make sure the glass is perfect if they are using the camera for this! This may also affect AutoPilot if the camera is picking up the dust. Can't say for sure as AP has generally worked well, it may just be the rain sensing that is affected.
Anyway, if you have crazy wipers, it's worth a shot to take your camera housing apart and clean the glass!