Doesn't hurt to take it in. Assuming your problem is also with the wiper motor, even though the car is out of warranty that isn't exactly a normal wear and tear item.

 

Try turning the wiper switch on then tapping the motor with a small plastic hammer. Doing this can knock the windings around which get seized up sometimes. I did this with my sunfroof motor, I had not tpouched the roof all winter and when warmer temps rolled around it would not open. Doing this fixed the problem and it still works great.