I would not leave the wipers in auto if there was the remotest chance of the blades freezing to the screen. I once had a car that gave one wipe at engine start if left in auto, not a good combination with frost.
There are drivers who are so lazy they try to clear icy / frosty / snow covered screen with their wipers
(normally the same ones who don't bother to put anti-freeze in their washer bottle and will happily pour a kettle of hot water onto screen to clear it ) their brains probably have poorly implemented buggy software (at least autonomous cars won't need wipers LOL
so one thing less to go wrong ).
'artificial intelligence is not, and never will be a match for natural stupidity '.