Hi @lucianagrimoire
It could be the clutch assembly.
Here's a link that has a [https://www.partselect.com/PS334641-Whirlpool-285785-Clutch-Assembly.htm?SourceCode=22&SearchTerm=MTW5700TQ0&ModelNum=MTW5700TQ0|video] that shows how to replace it so that you can check to see if it is OK or not.
If it is faulty search online for [https://www.google.com/search?client=firefox-b-d&q=+285785|285785] to find suppliers that suit you best. (examples only)
Perhaps also check if the [https://www.partselect.com/PS388034-Whirlpool-80040-Agitator-Directional-Cogs.htm?SourceCode=22&SearchTerm=MTW5700TQ0&ModelNum=MTW5700TQ0|agitator cogs] are all OK. If they're faulty search online for [https://www.google.com/search?client=firefox-b-d&q=+80040|80040] to find suppliers that suit you best. (examples only)