Zanussi ZWF16070W1 faulty - diagnosis?

Hi all. Looking for help diagnosing what is going on with my washing machine.

Zanussi ZWF16070W1 - 10 years old, steady use through that (couple of minor replacements in that time, pump, heating element)

Symptoms:

Fills ok, drains ok, door latch locks and unlocks ok.

Intermittent problem: Fills with water then stops - drum doesn't spin either way. - machine does nothing.

I have tested this on various settings and it behaves random on each - sometimes the drum will spin in each direction for the cycle - but more often nothing will happen. Sometimes on spin setting it will perform the spin - other times it wont.

On the times it does work there is a slight noise, like a low vibration, grind or crackle... I am wondering if that suggests brushes are an issue.

Otherwise I am leaning towards it being the control board...

Fault code reads E41 - door latch issue. However door locks, unlocks ok and multimeter on latch pins indicate it checks out fine (as does the fact the programs all start ok)

Any thoughts or suggestions?