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Wanted to close the loop on this. I did exactly as Firebrick43 suggested and a week later the garage door is staying place and closing properly. Grand total cost to repair: $8 (I bought some loctite to put on the screw) . Thanks all!

I don't think I'm understanding your point too well but, anyways, they actually never suggested to repair anything. The first solution out of the techs mouth was to replace the entire opener. Really a shame.

Thanks both! As an update, tightened it as much as I could and put some Loctite for good measure. It seems to be not moving at the top nearly as much but I will check again after some time. Someone suggested to tighten the set screws on the coupler that attaches the operator to the torsion...

I hope I didn't use any terminology that was confusing. The problem is ostensibly with the gear, which is located inside the opener, so I am referring to the opener. The tech wants to replace the entire opener for $1250, parts and labor.

EDIT: Fixed for next to nothing. See Firebrick43's reply below. I have a Liftmaster Chamberlain 3800PLD that's about 10 years old. When I close the garage door it reaches the bottom but then comes back up. The alignment of the sensors is fine. This has been a problem over the last few months...