I had similar symptoms with my 79 FJ40 (wiper motor heating up, wipers running slowly, no "park" position when the switch is turned off), but it was a while ago. Here's what I remember doing:
- cleaned contacts in the switch and connectors between the switch and wiper motor,
- opened the wiper motor, cleaned the armature, brushes and contacts,
- I seem to recall there are two circuits in the wiper "plate" inside the motor assembly, one that runs the motor in the "on" position, and one that returns the wiper to the "park" position.
About the "park" circuit, mine involved a finger with a contact on the end that mated with the rotating "plate" or whatever it's called, making connections as it rotates. In my case, that finger was broken at the end, so no connection was made in the park circuit to return the wiper to the park position. Since replacement motors are pretty pricey, I fashion a new contact on the broken finger.
The wipers still go a bit more slowly than they should, but no noticeable heating up of the motor or connectors and they reliably return to park when the switch is turned off.