Is there a way to fix the physical hard drive?
All Seagate F3 firmware drives (most of the drives in the last 10+ years) have a known firmware bug. Seagate won't fix it but instead started their own data recovery company. You can fix the firmware if you have a PC3K from AceLabs. It will set you back about 10K. It's easier just not to buy Seagate.
You can do head swaps in hard drives but this is ONLY to get the data off.
It's not cost effective to try to fix a bad drive (nor is it practical)
I have the gear to do it (Deepspar, PC3K, Clean Room, etc.) since I do data recovery on bad hard drives, but as @IRJ said you fix it just to the point where you can get data off it, but not to keep using it.