Oh, I just saw something else in that PDF, on page 15. It's a table explaining what happens when there's a fault in the wiper system. The first line is this:

Behavior: Intermittent Wipe
Problem: Short or open circuit of the knurled wheel signal
Solution: Delay value for setting 3 used.

That's it!! That's what my X is doing. Intermittent wipe, stuck on setting 3. So worst case scenario, this could be possible:

1) Fault with the rain sensor is causing Position 1 to revert back to standard intermittent behavior when it's not raining, or lightly raining.

2) Fault in the turn signal stalk means the rotary dial doesn't work and is stuck on setting 3.

3) Park sensor contacts on the wiper motor are bad. Wiper motor needs to be replaced.

Best case scenario it's the relay I also found this old archived forum post which suggest that taking apart the wiper motor and re-greasing it will fix the park position.