Help with flashing OS

Hello, everyone. I'm having a problem with my Moto G (XT1032) with flashing a rom. This phone is stuck in a boot-loop except it almost never restarts the process, just keeps showing the boot animation. Previously I installed TWRP and that was working the first few times I tried to enter TWRP it was fine, but now I just get the options of: Normal Powerup, Recovery, Factory, Barcodes, BP Tools, and QCOM. None of them work, they just trigger a reboot. I have tried installing multiple roms (for recovery) to try and flash it from there via Flashing a rom or through adb sideload, but since it just triggers a reboot I can't do that. Is there any way I can access a custom recovery so I can flash, or is there any other way to flash it? I have all the tools like sdk adb fastboot... What can I do?

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