FIXED!!
This was my issue! After many videos, posts by others, this is what finally set me on the path to correct the problem!! It indeed is the circulation pump and the bushings failing. HOWEVER whirlpool DOES NOT just sell this part!! THEY want you to buy an entire new pump (well over $100). I found this video with instructions on how to remove and clean the pump (mine did have "some" calcium build up in it but you can feel the sides of the interior where it spins out of center and cuts grooves into the inside chamber - this is what shows that the bushings were bad)
Here is video I watched that I found to be most helpful.
https://www.youtube.com/watch?v=Ki68BVU-80A
HOWEVER Since I do not have means to make my own bushings,like in the video, I found this guy on EBAY and the parts worked like a charm.
Kenmore Whirlpool KitchenAid Dishwasher Pump Motor Bushing W10610147 W10846093
https://www.ebay.com/itm/334815086153
GOOD LUCK!!! These dishwashers are designed to fail so we buy new ones!!