I have a 2022 rav4 trail (…
I have a 2022 rav4 trail ( Canadian )
I was having exactly the same issue with my intermittent wipers.
Took it to dealership and everything checked out fine.
When issue continued I decided to just push on the sensor beside the rear view mirror on the inside of the windshield.
Sensor wasn't snapped in completely to the mount.
Issue solved once sensor properly attached to windshield.
Easy way to check if that's the issue is to put wiper control on intermittent setting then push sensor into windshield.
Wipers will begin to work if that's the issue.
Hope that helps.