After a bit of research on my LG model on youtube, I believe my washer had two issues, the rotor assembly had worn out and the drain pump motor was broken. I confirmed this by watching videos on Appliance Parts Pros. I checked around and figured the two repairs would cost somewhere between $400-$700.
Because my units are stacked and difficult to get to in a small room with shelves I decided to replace both parts the more expensive being the rotor. I may not have needed both for as long as it was out and apart I figured what the heck do both.
The actual repair took about an hour and a half. The two hardest parts were getting the drain hose clamped onto the pump and getting the retaining spring back on the boot, but other than that it was easy and rewarding to know I fixed it myself and saved at least $250!
Tip: Use your cell phone to take photos of things as you take them apart. Lay the parts (including screws) in a row with the first parts you take off the furthest away then reinstall them in reverse order using the photos on your phone. It's especially important to take pictures of the wiring harness and where which color wire connects to which lead.