Seeking advice: Bosch Nexxt 500 Washer issue

[topperdude]

Hello,

While running a cold cycle on our Bosch Nexxt 500 washer this weekend, got E:04 error during the final spin/drain and noticed humming sound. Switched the washer off and searched online for possible causes.
Watched few videos online - mainly this one - and then accessed the drain filter by opening the front panel in the lower right, manually drained all the water with a wet/dry vac and removed the stuck piece of clothing (see attached image). 

I have cleaned out the filter (and rinsed off the filter "cap") and trying to figure out next steps and would appreciate any assistance with further diagnosis.

 
One of the advice in this Bosch washer repair video was to ensure the impeller spins freely. When I try to spin the impeller manually, I feel some resistance after pushing it through about half a turn as can be seen in my video. When I switch the washer to "Drain", the impeller seemed to "hesitate" a bit at the beginning and then started spinning (with some rattling) as can be seen in this video. 

 

• What should we do next? Should we run the washer through an empty / Quick Wash cycle (without any detergents, clothes, etc.)?
• Does the rattling sound from drain pump during "Drain" stage, indicate the drain pump might be on its last legs and could fail at any time?

Would appreciate any advice / assistance.