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The most common issue is worn suspension rods or the nut on the rotor is loose. Make sure the nut is tight and if that is fine try a new set of suspension rods.
The springs lose some tension over time and can let the tub move too much. Greasing is not a solution. The control board senses what the motor is doing, so that is how it senses an unbalance condition. Electronic parts are costly on this, so I would start with cheaper ones before going in that direction. repairclinic.com allows part returns, so you may consider using them on this repair.
The tub will pull all the way down under a full load. If you press down on each corner it should pop back up at the same rate as all the others. It is sometimes impossible to tell if they are indeed worn- only replacing them will reveal that.
ok. Another option you may try is to take off the rotor, loosen and then retighten the stator bolts and put it all back together. For whatever reason that does seem to resolve some of these off-balance issues.