This was a tricky one to figure out. The Maytag Centennial MVWC400XW4 would fill and wash, then stop before spin cycle or would not complete the spin cycle. We had to manually move the dial to rinse & spin, etc. to get it to finish a load. This technique worked but it definitely became a pain to do and at the time we didn't notice how much longer the machine took calibrating a wash load.
I called Sears initially thinking I really didn't want to mess with this and they came out. They couldn't find any error codes and said the machine needed a motor drive replacement as the motor bearings were worn out and causing the noise and stoppage. This was actually incorrect as it was the shift actuator.
Things I learned: Ended up having to watch quite a few videos to help narrow problem down. By the way, a motor drive replacement requires you to calibrate the machine and no instructions come with the replacement, so you will need to hunt those down. Next, the lid unlocking and many videos support replacing this, but if your machine has trouble setting up for a wash load and takes a lot of time, search out the actuator videos as this unit tracks the speed of the basket and also shifts the unit. When this isn't correct, all the other problems described above appear when its the actuator.