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crwdns2934241:0crwdne2934241:0 Matt Zieminski

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You might try the troubleshooting tips hear if you're hearing an accommodating grinding noise: https://fixitnow.com/wp/2006/03/16/diagnosing-transmission-problems-in-a-whirlpool-kenmore-top-loading-direct-drive-washer/

My hope would be that it's a defective lid switch assembly. If you have a multimeter you can test that to be sure.

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open