r/roomba

We have a 700 series Roomba. Only had it 15 months, worked great unit a month ago. Unit stops and it says “Roomba is stuck”, it will be in the middle of the room near nothing and it says this. Runs for 5 minutes then does this on repeat.
Updated software and firmware, it’s up to date. Cleaned the whole unit inside and out.
Anyone have this issue and how do you resolve it?
Thanks!