I have always understood, that is, in the places I have lived, that washing, servicing, repairing etc a vehicle on the public highway is prohibited.
That said, I have googled it and it seems that maybe it is matter for the municipality where the road is.
I am sure that cleaning the windscreen, lights, number plates etc. would not attract any problems, unless one got stroppy if told to desist. Always be aware that the police in Spàin have consderably more power than those in UK. If they tell you to do or not do, something it is always better to comply than to argue.
I think washing etc. a car in the street was illegal in London too under the Met Police Act of 1861, as were a lot of other ‘everyday’ things. That Act was I repelled in 1964..