I've seen the same problem before on that lens. Usually, there are 3 possible causes:
1. Red arrow - flexible cable blocking the focus mechanism after the adhesive deteriorated. Solution- Just replace the adhesive
2. Blue arrow - Sticky adhesive from the focus encoder plate melted and is affecting the focus mechanism. Solution - clean the focus mechanism and put new grease
3. Stiff SWM - Either it's worn out or oxidized SWM parts specially if the lens was kept for quite sometime. Solution - Usually, service center would replace the SWM with new parts to fix this problem.
My fix, I just clean the motor. Yes, just carefully clean the motor. SWM (just like USM, HSM ..etc) operates on dry friction. So the rubbing parts has to be smooth and clean. No grease. Grease is added to the focus mechanism but not the rubbing parts of the motor.
These solutions require a lot of dismantling so fix at your own risk