Other folks with similar problems seem to regain happiness after replacing the machine’s failing 24 V power supply. The controller may be failing, but the power supply is a much less expensive part and it’s worth starting there.
Some earlier discussions with similar or more dramatic symptoms:
As a rule of thumb, replace the supply with one having at least 50% more current capacity, as the OEM supplies are grossly under-specified for the actual maximum current to all the motors / lights / controller / valves in the machine.