As the washer proceeds through the cycle, it initially fills and agitates normally. When the timer reaches the drain/spin/rinse portion, the washer does not drain but instead continues to agitate. If left alone, it will agitate until the timer reaches the "off" position at the end of the cycle, at which point the washer shuts off and remains full of soapy water.
However, when the timer reaches the "spin" point, if I lift and then close the lid or unplug the machine momentarily, the washer will drain, spin and rinse normally. Again, when it reaches the final spin point, it will continue the rinse agitation unless I lift and close the lid or again momentarily unplug it. As soon as the power is interrupted by the lid or unplugging, it will drain, spin and shut off normally.
The behavior is the same in all three timer positions: Colors, Whites or Delicates.
This sounds to me like a stuck relay on the circuit board. The momentary removal of power allows the relay to reset and then allows the cycle to continue under control of the timer. I'm thinking a new circuit board??