With the codes you provided, 0102 is the sequence code, and that describes that the machine is washing reverse after detecting the rear tire with the photoeye. The code 1004 is a vehicle left early code, which usually indicates a loss of bayplate.
There could be a couple of things happening. When you are at the rear and it's just getting ready to drive forward in a wash pass, it's also switching from the trifoam over to normal wash water and detergent, so if one of those were pulling down the 24VAC, that could cause it to lose the bayplate signal by relay K24 dropping out.
If it's not happening on every wash, it could also be a boom wire going bad. If the vehicles that it's stopping on are approximately the same length, if a conductor is bad that carries that signal from the wash bay box into the machine, it could act the same way.