Opened up the back of the machine and removed the motor rotor enclosure and found metal shavings inside the drum. The inner gears had chewed off the teeth on the rotor drum. Ended up ordering just the motor rotor enclosure and then found that the ratcheting was still happening after it was replaced. Determined that the motor rotor sensor must have been the original cause for this gears/teeth being damaged. Once the motor rotor sensor replaced, the ratcheting stopped and the washer was fixed.