Rattling noise

My Dreame x40 ultra is making a rattling noise when riding on hardwood, it doesnt do it when it’s on the carpet.
It almost sounds like something’s borken, but it goes away when it’s vacuuming the rugs and carpet.
Also, its getting clogged very often and wont properly self-empty,  I have to clear the dust collector manually once or twice per week.

Any suggestions?