I have similar issue with passenger side wiper. Center of the wiper doesn't touch window when below zero temperature outside. My theory is that ice builds up inside the assembly preventing ends spread out properly and as a result middle of the wiper doesn't have good contact with glass. Probably since driver side wiper is a little longer it has more leverage and ice breaks due to that force.
Anyway, when it's cold I just grab passenger wiper by the end and gently bent it backwards, then do the same for other end. It helps in most of the cases, but I guess that permanent solution would be replace blades. I thought that it's an issues only for 2010 and surprised it's not fixed in later models by Toyota.