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Sounds like there might be a corrupt file on your SD card.
Since you can read the card in a card reader, I would suggest copying the entire contents to a folder on your computer. Format the card. When that is finished copy back the contents to the SD card going one folder at a time. This way you might discover which folder had the corrupt file in it.
When that is completed, put the SD card back in the phone and see if it is readable by the phone.