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If you can live with the wiper motor noise, well and good.  If you'd like to try eliminating or reducing it, get some disc ceramic capacitors (value not really critical).  Voltage rating AT LEAST 50 volts; most are rated around 200V so that's fine.  There used to be a place near downtown in Seattle (Radar Electric) that sold mixed-value disc ceramics by the POUND!  I invested five dollars for five pounds of them and I still have four pounds or so left, after using them on Navy ships for three decades or so for applications very much like this!

 

I'd look for capacitance values anywhere from 0.05 μf to 0.5 μf to start.  Then get access to the wiper motor itself.  Check the brushes and make sure they are in good shape.  They could be the cause of the problem if they're worn or the slip rings aren't messed up.  Assuming slip rings/brushes are okay, add one capacitor from the hot terminal of the motor to ground.  Then check to see if the noise level has gone down.  If so, try adding a second capacitor in parallel with the first one.

 

You might never eliminate ALL the noise, but as you reported, a lot of it is gone.