First we checked to see if there were any socks that made it through to the outer tub (a known issue with this model). We found a couple, but it didn't fix the problem. Did some research on AppliancePartPros.com and found that the sensor seemed to be the main cause of the issue. Ordered it and it arrived in two days.
First I ran the spin and drain cycle as you need to put the washer down on its front. Once I had the washer on its front I used an allen wrench to remove the cover plate and then a ratchet set to remove the four bolts holding the motor. Next I simply removed the wires from the sensor, replaced it, and put everything back together.
Washer seems to be working perfectly!