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Most likely the wiper arm was loose on the pivot and has "stripped" on the tapered spline. To check this, remove the small black plastic cap at the base of the wiper arm (pry carefully, it will pop out), which will expose a 12 mm nut. I can't remember if the driver's side is easier to access with the hood open - one of them is.
Turn the wipers on and off, to put the passengers side in the "parked" position. Then move (if necessary) the driver's side wiper arm to the normal parked position. Hold the arm, and tighten the nut securely, but don't overtighten it.. Cycle the wipers on and off to check operation, if they both work, you may have to loosen and re-adjust the arm position of the driver's side. Don't put it too low, or it will slap the plastic windsheild cowling on high speed.
I hope this works for you.
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