Really cool project. Late to the discussion, but FYI that the same assignment problem for tracking that you are solving using the Hungarian algorithm can be solved as a linear program in a more efficient way, e.g. see https://developers.google.com/optimization/assignment/assignment_example
I had the exact same issue, the rear wiper felt off while driving, probably after using a car wash.
The Macan 4 rear wiper is a new model, with a new connector, and several brands that claim to fit do not. The one that worked for me was the trico rainguard 55-150, but it was hard to make it...