Years ago I bought some Athearn locomotives and did had a few that acted like that. There were bought around 30 years ago and I don't know if Athearn has improved the old open frame motor very much, but I could be wrong.
Athearn has upgraded the open frame motor once or twice during the blue box era but spotty quality has been a long term issue with Athearn; some ran well and others were coffee grinders.
In the new, post Irv Athearn era, the RTR diesels they have been in producing since around 2000, the motors were likely revised again. But as before, QAQC issues remained between 2000 and 2006 and customers of the RTR engines reported some ran smooth and quiet and some were again, coffee grinders. I bought a Kodachrome SD40T-2 cheap off of a guy who disconnected the spline rods to turn it into a dummy because it ran so poorly - it was from that time frame.
Most of the Athearn RTR engines I have bought have been since 2007 (a few SD50's, a bunch of tunnel motors and a bunch of SD45s. I haven't run all of them yet but of the ones I have, so far, none have been coffee grinders, but some of them run with an audible hum but run fairly smooth. A few of the SD45's I've run were nice and quiet and, dare I say, similar to KATO's!
Long and short of it, if you have a coffee grinder, there have been some who could remove the motor and polish the commutators to help quiet them down with some good success. Making sure they are properly lubed is always a good idea. I pulled out an Athearn SD45T-2 manufactured maybe 6 years ago, and it made some screeching sounds while running. Some guys informed that the lubricant can go dry while they are stored in boxes for some years so I dropped abit of plastic compatible lubricant into the gears and it helped.
Also FYI, Athearn has offered remotoring kits for a few of the SD RTR loco's to bring them up to Genesis motor quality standards and make them better for DCC and sound installations. So even Athearn has, in a way, acknowledged their RTR line motors are not great and may be suitable for "upgrading".