My Whirlpool washer will not spin in the rinse/spin cycle unless I raise then lower the lid. Then is continues the cycle without any issues. It works fine in all other cycles until it gets to this one again and it does the same thing. Is this a timer issue?
It sounds like the timer is not pausing the drain to allow the transmission to shift into neutral.
I would try replacing the timer, and since it is fairly expensive if you buy from this site and the new timer does not fix things you can return it.