Refresh my memory, but does the Bronco2 have a multi-function switch? If so, that would be the first place I would look. On newer models, the multi-function switch is what integrates the turn signal and wiper controls into a single lever. It is generally an easy component to fix on fords (not so much on GM's). The problem with these switches is that some of the many contacts inside (often those for intermittent wipers) wear out. so that while the turn signals may work fine, the wiper portion of the switch is bad and it all needs to be replaced as a whole compnent. Don't worry, these are not that expensive.
It doesn't sound like you hadn't addressed this part yet. And I might also mention that you did not say that you had checked GROUND to the motor, though you did check power. It could be that the relay circuit completes the ground side of the wiper circuit. With a bad wiper switch (multi-function), that the relay is not activated and the ground is not completed.
I think my hypothesis fits all of the information given, though you will have to check it out for yourself. best of luck, keep us posted so we can all learn from your efforts.