Mine was doing about the same. I hadn't bothered to lube it. I figured as loose as all of the joints or hinges were on it, lube wouldn't help anything. After a couple of trips underneath to look at things, I took a can of spray lube. No more problems.
1) clean & lube all pivot points (joints) 2) clean all ground connections 3) visually check to be sure nothing is bent 4) I just had to use rust penetrant on the main gear shaft inside the motor, as it had rusted enough to "fool" the resistance measuring circuit of the control module.