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There is a door locking unit that should lock when you press go. This must have failed. It lives just under the lid in the middle at the front. It is thermal piston, when you press go it gets power and extends. When it hits a micro switch that tels the washer the door is shut and allows it to continue, else it shuts down. To get at it you have to take the front off, leave the door on.
d sounds as if your having a timer issue here. not recognizing the end of cycle and entering a new one ( bad timer).. as far as time of unlocking this is normal, theres a wax motor holding the door shut for i believe 3 min's.. and the water sloshing sounds is also normal they use a "water filled" balance ring around the perimeter of tub to help with the overall balance of machine
Most likely the motor control unit, the MCU controls the timer (loop circuit). Best way to check is to just pull the MCU out and visually inspect it for burned components, although it is not always visible. You may need to make some involved voltage readings to verify.