Hi,
Does the basket turn freely both ways?
It sounds like something is wrong with the shift actuator not engaging properly, either due to the shift actuator itself OR the splutch cam being stripped. Both of those parts are underneath the washer, also check the belt under there too.
Here's the tech. data sheet for your model:
https://drive.google.com/open?id=13EInFAAf99HeIgo6JNhYxCuG3RSqZdZG
You can check for any error codes:
Page 2 of your tech. data sheet do: ACTIVATING THE SERVICE DIAGNOSTIC TEST MODES, Then do FAULT CODE DISPLAY MODE on Page 3, Then you can see what fault code you are getting on Page 6 and Page 7: FAULT/ERROR CODES
Verify that the cam on the splutch is moving freely and not binding. Also check the splutch assembly plastic cam teeth to make sure its NOT worn down to smooth.
Here's the shift actuator for your model:
W10913953 Actuator
Video Included in part link.
Here's the sputch cam kit for your model:
W10721967 Splutch Cam Kit
Video included in part link.
Let us know what you find.
Jake