Windshield wiper motors can be internally lubricated, this is a difficult accomplishment in an environment that by it's very nature destroys the lubracative qualities of oil and grease.
In nearly every case on the discussion forums that I participate in, the people that need to replace fuel pumps report habitually driving around in the sub-1/4 tank range and buying just enough gas to get to the next day or the day after. The common thread among this group is low fuel and the need for a fuel pump. In all of my years, the only time I replaced a fuel pump was a year os so after buying a used car that I don't know the previous history of. But, of all the cars that I have owned, only one has needed a fuel pump. Granted, many of them were not fuel injected, so the fuel pump was mechanical and mounted to the side of the engine block. But, I've owned a fair share of fuel injected cars and trucks, and only one fuel pump. I always fill the tank.
You can drive around with an empty gas tank if you want, but I'll continue to be happy in the thought that a habitually full tank is better than an habitually empty one when the fuel pumkp life is in question. I'll not lose any sleep telling people to lean to keeping the tank filled rather than to allow it to run on empty for extended periods.