I tried cleaning hoses, pump etc. and while they needed a bit of cleaning, they weren't the problem. I got great suggestions from this site as to things to try that cost nothing but a little elbow grease. In the end I bought and installed a new water inlet valve and that has done the trick. We have not had a single issue on any setting since putting the new valve in. Problem solved for $20 and this is something Whirlpool's own techs couldn't figure out. I'm not a handy guy but the videos and support on this site are awesome and made it easy. Tackling my dryer next!
Time shown below is for changing the water inlet valve only ( I spent more time diagnosing what was the issue)