Roomba S9 Plus Making Error 2 With Clean Roller Brushes

Recently, I have been noticing that my Roomba S9 Plus makes an intermittent whining noise. The Roomba frequently stops and mentions Error 2 for stuck roller brushes, even though the brushes appear clean and spin freely by hand. If anyone has ideas to help fix the issue, I would greatly appreciate it.

Thanks in advance.

Just an update,

I found the issue. Seems like the gearbox of the cleaning head that spins the rollers is most likely starting to fail. It is not easy to find a good cleaning head for the S9 Plus. But I did find the roller brush motor assembly itself on some platforms like eBay. However, I cannot find any repair guides for installing this. So what now?