whirlpool direct drive washer odd behavior

Whirlpool ITW4300SQ0

Fills fine, agitates (first time) every time. Sometimes it goes into a drain or agitate cycle it stops with a low volume buzz, sometimes it won’t. Here is the weird thing though: I know it is checking for something because the times it stops: if i catch the 5 second buzzer before it stops, i can push the agitator forward and it will immediate start back up, if i dont stop it in time it times out and will not function at all for some time (maybe 2-4 mins) unpluging wont even reset it, you have to just wait and it will try again indefinitely. eventually it will go but sometimes takes hours. every time if i push the agitator forward it will go on the next try. i checked the drain pump and drain and it isnt blocked/no obstructions. i checked the coupling on the motor - perfect and i can spin both sides with ease. after i reassembled it ran the first delicate cycle with no issues then started again so it has something to do with mechanical aspect. also i found out delicate is the hardest mode because it checks after every agitator pause and presents many oppurtunities for this issue to arise. i would hate to give up on this because the washer is still operating great, still agitates strong and draining just fine. One more note: if it stops during a drain, it will start spinning when it starts up but thats only with this weird glitch when i have to open the lid and push on the agitator. if that doesnt happen then the washer acts normal. any help would be appreciated!