My 97 80 series had a similar issue on the rear wiper.
On the wiper motor remove the cover where the wires connect. Inside is a flat disk with electrical contacts that rotates when the motor is on (on, off, on, off, etc or on all the time, etc). There are two or three copper fingers that ride against the disk when the wiper is on (intermittent delay, and constant rotation Etc). This rotating disk is how the motor will stop and start based on the the dash switch. In some cases the rotating disk will energize the wiper delay relay or the like.
In my case. My rear wiper would not complete its cycle. Turn it on, the wiper would partially move through it's cycle. Turn it off and the wiper would return to the home position. It is possible the disk or finger contacts have worn out.... However, it is more likely the contacts need to be cleaned. In my case, the grease used to lubricate the worm gear and rotating contact disk goes bad. Gets gummy/sticky and prevents/limits electrical contact. Clean every thing, remove the old grease, clean the disk (brass contacts) and fingers with a mild scotch bright pad or 600grit wet/dry sand paper and re-grease with Toyota wax/grease. I use Super-Lube with Teflon (goggle it).