Here is the most recent update from Apple on error 53 - https://support.apple.com/en-us/HT205628 so unless Apple decides not to check the home sensor button during the software verification process (Which they could easily do) and you have a damaged or replaced a home button then the only solution for error 53 is to take it to Apple.
Personally I think this stinks, if owners of iPhones do not have access to Apple stores or can't afford Apple repair rates then they should be able to have the home button repaired by a 3rd party(If your on a budget you probably won't mind that touch ID does not work), a software update (Which you keeping getting nagged to do) should not brick a working iPhone without any warning!
If you want Apple to fix this issue give them feedback at -
http://www.apple.com/feedback/iphone.html