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The wife complained about the rear wiper making some clunking noises. I took a look at it, found it a little loose, but otherwise functioning. Then it stopped working. I could hear the motor running just fine, but no movement of the wiper arm. Then I noticed that the wiper arm now swung freely.

A quick consult of the manual and I pulled the protective cover off at the base of the wiper arm. The nut had backed off, so I pulled it apart, cleaned the teeth (as suggested in the manual), then reassembled it with 15.5 Nm of torque. All's well.

As an added benefit, taking this apart and reassembling it allows you to adjust where the wiper arm rests when it stops/turns off. Mine had creeped up over the last couple of years and was resting at an angle.
 
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