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After the washing machine fills up and drains then at the 19 minute mark the drum tends to tick tock back and forth and does not progress any further than that
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While I am far from an expert at home appliances it sounds to me like the drive belt is slipping. You can attempt to follow the Maytag Bravos Drive Belt Replacement to assist with the replacement. But I am sure someone else with more expertise should be able to add on.
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@davidleacock besides the excellent answer given by my colleague @thequacker I suggest that you run the diagnostic tests and see what, if anything, pops up. Here Maytag Bravos Quiet Series 300 Tech Sheet is the tech sheet for your washer. It'll tell you how to run those test. One may want to allow the automatic test cycle to complete prior to going into specific troubleshooting tests. So, start with that.
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