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If drivers wiper arm will not move by motor operation and can be easily moved by hand ( with wiper on or off ) suspect disconnected/broken linkage. If wiper arm will not move by motor and takes effort ( With wiper on ) by hand... suspect seized wiper pivot
Your wipers have a transmission of its own. It is located between the wiper motor and the wiper arms. the linkage to the right wiper arm has fallen off. More than likely you will need to replace the transmission. If the wiper motor is original, replace it at the same time. Sometimes you can buy the two together. Any other questions, feel free to write back, good luck.
This minivan has just one wiper motor (and it obviously works), so the problem is after the motor. The linkage between the wiper motor and the passenger wiper arm has come loose or lost a nut. These wiper arm joints are under some fairly severe service conditions, and like to self-disassemble.
Here's the 2004 Sienna wiring diagram - enlarge to discern.
you need to check to make sure the "arm" is moving , some gm vehilce have a sealed wiper unit, but the alero should still have arms. turn wipers on and look down at the cowl vent and see if it appears to move. if it is the mounting post for the arm on the passenger side has PROBABLY stripped out the soft lead mount at the bottom of the wiper arm. make sure the wipers are "parked", then carefully try to wiggle the pass side back and forth (its normal motion...). if it moves you will need to pop the arm off(super careful here..) and the post that looks smooth must be cleaned out with a fine pick or equilalent, the post accually has splines all around to engage the wiper arm. put on the new arm.. presto.... wipers.
Check the splines on the post where the wiper are mounts and make sure they are not rounded off. If they are intatct, remove the cowl (sheetmetal between the hood and windshield) and check the mechanical linkages that connect the wiper arms together