Figured out how to diagnose it and found the error codes, all online! learned how disconnect everthing and laid the washer down on its back, saw the 2 malfunctioning pieces, The Drive motor and the shift actuator, removed them and looked up model numbers, found the parts I need here on appliance parts pros and was able to order them and have them delivered in 2 days. Super awesome as it took me maybe 5 minutes attaching everything back to where it went. I ran diagnostics again to see if there was anything and cleared the codes and ran it again. I found no error codes and washed a bunch of towels to test run, I couldn't be happier my washer is up and running.