Had an IC-R10 for a few years before selling it to fund something else.
I suspect that the rotary pot is becoming worn with use. Mine used to be very sloppy and wobbly and would do some wierd things if turned partially between clicks.
The problem with those pots is the amount of use they are subjected to. Tuning over large portions of spectrum or HF listening in small steps is enough to cause wear on the switch contacts.
No doubt yours is becoming worn out. Does the knob seem wobbly and loose?
Otherwise the solder connections to the circuit board have become damaged due to the constant twisting action. Particularly if the screw ring beneath the plastic knob has become loose.
Sourcing a spare rotary pot from Icom may be the only way to fix the problem- or at least having them service the radio. Unless you are used to working with small scale electronic equipment, replacing the pot is not for the layperson.
Regards, Commscanaus.