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The basket appears to be centered. The basket moves so much that it hits the back of the mashine, i think thats where the noise is from
The basket has broken a support weld behind it and will need to be replaced. There is also a possibility that the tub bearings are going bad, but that cannot be determined unless the unit is taken apart. In any case this is an expensive and time-consuming job, so I doubt it would be worth fixing.This is not an uncommon issue.