C58 means the primary pulley and secondary pulley may be having a fight over their respective positions. Could either be sticking primary pulley sensor or debris causing the pulleys to stick in different locations. You could pull the PPS and see if the plunger operates smoothly with no crunching and make sure it is nice and clean. Need to take Tupperware off though to get to the top hex bolt to get it out. Stick a hoover over the hole as well see if it sucks and debris out.