Ordered a "dryer repair kit" for the make/model. Replacing the idler pulley for the drum belt solved the issue. Took less than an hour. All I had to do was remove the back panel, after disconnecting the power, gas, and vent. Then, after taking the belt off of the old pulley, removed the pulley retainer clip, slid the old part out, pushed the new pulley in place, replaced the retainer clip. Easy fix!
Pro tip: If you are not used to appliance repair, take pictures as you disassemble the appliance! That way you know where every piece goes.