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My PF would do it now and again... Does it work on full speed? Mine would come back to life after a vigorous spraying with WD40 (what doesn't?)
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The mechanism gets rusty because of water ingress and that increases resistance and load. If the current exceeds certain limit because of extra load it stops working until you cycle ignition. If the load is within limits next time it will work until loads goes too high again. WD40 provide some lubrication for a while so it is working but its not a permanent solution as WD40 washes out grease and evaporates with time leaving it worse then before.
You need to strip it down, clean up and put in corrosion inhibiting grease like ACF50. The seals could be damaged as well and require replacement but they cannot be bought on their own as far as I know.
I just rebuilt rear wiper on our A6 last week and I could see it has been replaced before not in too distant past as the motor was looking quite fresh without any wear and the monkeys replacing it have damaged trim and lost some clips. I guess rears fail more often because of of use.
Same thing also happened on friends B6 front wipers last year.