This can be possibly (not positively) be caused by the contacts located at the very top of the inside tape loading aperture being oxidised as these are associated with the slot on top of the cassette that determines whether or not to allow recording as well as sensing if a tape is inserted.
It can be difficult to see them without the use of a small dental type mirror, but if you can give them a rub with a cotton bud or similar, as although a spray with an electrical cleaner is best the danger is that it will fall onto the cassette spindle mechanism and cause tape slipping.
There is another known problem with all "D" plus three digit models and is described below but your symptoms aren't exactly as applies to the following as its associated with a "rogue" e-04 error code, this due to the mechanism not fully completing a transition.
Part of info >>>> if pressing "slightly" on any part of the
mechanism that moves from one position to another (loading door etc), or
"lightly" thumping the bottom of the camcorder with your hand does not
clear the fault then it requires an element of dismantling to enable
proper fault finding to be carried out <<<<
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