LG DR 385 DVD recorder

I assume it used to work so unlikely to be a firmware bug.

My guess would be a mechanical problem with the tray not fully loading.

Since it can eventually read and write normally, not likely an optical problem.

What happens if you eject and then insert a DVD AFTER it has successfully loading one?

I would certainly be worth taking the cover off and try to observe what's going on when it fails.

Does the tray go in all the way? Does it attampt to focus or instantly reverse direction and eject??

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Assuming that it uses belt drive on the tray, check this carefully for slipping at the end of the loading cycle. It's very common with the symtoms you describe, for the loading belt to have just enough grip to drive the tray in and out, but not quite enough to lift the deck and disc up to the clamp, to complete the loading cycle. With the cover off, it should be quite easy to see this.

Arfa

If the tray stays in when there is no disc in it then the belt that drives the tray is bad. Remove belt and clean it with isopropyl alcohol 90%.