Why is my HP M476nw throwing a 59.F0 fault?

Have an HP M476nw which is throwing a 59.F0 fault. I have removed and cleaned the transport belt which is the normal cause of this error. The Service Manual suggests using the control panel to print the diagnostics pages but I don’t see any “diagnostics” option or report. I can get to the secondary service menu but no diagnostics.

Have also tried firmware update with DCCV1_51.prn file but this doesn’t seem to apply properly as far as I can tell.

Sometimes upon boot the printer displays an “Initializing” message and then works fine with no error, other times it boots without that and then hits the error. This leads me to believe that it might be more of a firmware issue rather than a hardware one.