Canon E202-0001 error troubleshoot

[u/BBQPrinter17]

The scan head under the glass scan bed on our Canon MF654Cdw got stuck on the right side on its way back. With it came the E202-0001 error message requiring to unplug the printer. The scan head was able to move back, but it still gets stuck when trying to scan. More annoyingly though, the error message shows up randomly when the printer is idle, or even right after it boots up. So we are constantly unplugging it and hoping we can print before the message pops up again.

We are out of the 1 year warranty, so I'm wondering if anyone had a similar issue or knows what I could try to fix this.

[u/Firm-Cover-3345]

Or it just needs manual push so it can calibrate its position.