How do I access the wiper motor and transmission arms?  My wipers have developed a groan, and I think the pivot points are in need of some lubrication.

On a Tintop, you will need to remove the dash cover.

On a ST, you can remove the windshield frame to get full access to the motor and linkage, as both are attached to said frame. Since you are asking, I am assuming that you don't have a windshield fold-down kit installed. The screws that attach the bracket at the bottom of the windshield frame can be a pain to remove it they have not been removed previously. They were originally installed using the same high-strength, high-temp thread locker as the door hinge screws.

On a ST, you can remove the windshield frame to get full access to the motor and linkage, as both are attached to said frame. Since you are asking, I am assuming that you don't have a windshield fold-down kit installed. The screws that attach the bracket at the bottom of the windshield frame can be a pain to remove it they have not been removed previously. They were originally installed using the same high-strength, high-temp thread locker as the door hinge screws.
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Wow!  Gotta take the windshield frame off?  Is there no other way, like thru the dash?  I really didn't want to dismantle my entire upper body.  This is a bone-stock 87 soft top that used to live at the beach, so most screws and bolts require 24-48 hr soak with PB Blaster BEFORE I round off the heads and grind/drill them out.

then remove the dash cover.