I have a Whirlpool Top-Loader Washing machine. It will drain and agitate close but will not go into the final spin (The clothes are still soaking wet). The machine will sometimes go into final spin if I turn it from the normal wash cycle, after it washes and drains, to just the "Drain and Spin" setting. This only works sometimes. I have taken the machine apart and seen no obstructions. The lid switch looks just fine. I has also unplugged the machine and done a hard reset (I believe). The water level switch is plugged in fine and i think it works correctly. The coupling was one of my guesses, but if it were broke then why would it work "sometimes"?
You may have a problem with either a semi clogged drain pump, lid switch, or the control dial on the washer has a few bad spots on it. We would suggest inspecting drain pump and lid switch. If both are ok then buy a new control settings dial assembly.