2002-4153 is likely a data corruption error (although some people report that the Wifi card might also be an issue).
It can be broken save files, system files or just the entire internal flash memory that is stressed out.
I believe Hekate has a stress test / benchmark for the interal flash memory (emmc).
If you have an SD card that you are sure of that it's a good one (I mean not the 2TB SD card from eBay that was on sale for $12 last week), then you could try to set up an emummc.
Then the Switch runs off an image on the SD card and does not use the internal flash.
If that solves all your problems then there might be something wrong with your internal flash memory.|
If you have nothing to loose, I would recommend factory resetting your Switch so that you don't risk cloning any corrupted save files or any other unnecessary files.
I would also recommend not to add overlays, extensions and other customizations of the CFW when testing.
Outdated versions sometimes also cause a lot of weird problems.