I was having very similar error reporting under the same conditions you have described. I went through a very thourough and deep cleaning process, full disassembly and a bit of dirt and dust, but nothing catastrophic enough to cause the roomba to continually shut down for reasons of error 2. I followed iRobot tech rep advice and bought new roller brush gear assembly. I put in the brand new unit assembly( very easy to do) and turned Roomba loose. Same error code and Roomba would shut down. So, I decided to replace the 4 year old battery. Popped in the new battery and fully charged up the new battery pack for about 7 hours. I let loose Roomba with new fresh fully charged battery pack and the error 2 of tangled brushes was no more. The unit ran for over 2 hours non stop and docked up to recharge. The old battery was the problem.
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=== Update (11/09/2022) ===
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I have an 800 series and I had the same problem for quite awhile. I took mine apart down to the gear classes in the motor drive, and could find nothing wrong. I replaced several parts on recommendations from Roomba. Nothing fixed the problem. What finally “ fixed “ it for me was replacing the battery. I bought a non OEM battery, it’s more powerful and lighter weight than the original. Runs for a good 2-3 hours nonstop, no more error messages. This could be the fix you are looking for. I bought the battery on Amazon for a very decent price. My 2¢.
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Hope it works for you if you try this method. If doesn’t fix your error problem, return your battery for refund.
I was having very similar error reporting under the same conditions you have described. I went through a very thourough and deep cleaning process, full disassembly and a bit of dirt and dust, but nothing catastrophic enough to cause the roomba to continually shut down for reasons of error 2. I followed iRobot tech rep advice and bought new roller brush gear assembly. I put in the brand new unit assembly( very easy to do) and turned Roomba loose. Same error code and Roomba would shut down. So, I decided to replace the 4 year old battery. Popped in the new battery and fully charged up the new battery pack for about 7 hours. I let loose Roomba with new fresh fully charged battery pack and the error 2 of tangled brushes was no more. The unit ran for over 2 hours non stop and docked up to recharge. The old battery was the problem.