I have a 2019 Prius Prime. Recently the front seat, driver's side has been acting up. When I try to move the seat forward or back using the lever on the side of the seat, there is a chattering sound, and the motor seems to be vibrating. the seat will move, but there is a jerking movement to it. I've checked for obstructions, but do not see any. I'm wondering if this is a known issue.
That chattering will occur as the seat passes over the area where your seat was most often set at. I found with the power driver's seat, I suppose the teeth between the seat rail and the seat may wear a bit as the car ages so as you move back and forth across that area, it will chatter probably due to the wear & tear of the teeth and/or gear. AFAIK, it's normal wear and tear but I haven't had fancy cars that maybe used tougher gears. All the Prii I've had as well as my current car (Kia EV6) do that after a few years.