Here are some troubleshooting steps that you can try that may (or may not) correct your problem. They only seem to work for less than 40% of the lens errors, but if the camera is out of warranty (or repair cost approaches that of the camera), they're worth that try. Some of the later steps do involve some risk to the camera, so carefully weigh your options before deciding to conduct them:
And here is a video summary of the steps. But please note that the above linked blog site goes into much greater detail with additional tips than this video shows:
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