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Yes, all parts on first pic are needed or will never park on the correct position. In fact wipers will play freely around when wiping the glass making a diff trace on every sweep.
Pics are not great quality, sorry ( old 6275 nokia ). And i greased the parts more than really needed. i wiped off a bit because it was being a problem.
that rubber washer could be just for cushion between linkages on earliers setups. Laters ( post 73 ) used a diff attaching method for linkages and that's not needed. I could say you can use a foamy sheet, same material used for light lenses gaskets or body gaskets and make it by yourself