The Service manual has the procedure starting on page 37 for the tumbler removal, take a look and see if you feel comfortable to give it a try.
If you are handy or someone you know has basic mech. skill sets you can perform.
You, I and many others need to check those pockets.
Here is the service manual link.
The manual doesn’t call out the torx driver size required for tumbler removal.
I just removed my tumbler cap and measured, it’s a #20 torx driver.
If you call a repair service in make sure you have your Model# and Serial# number ready to pass along to them.
You mentioned”” There is a penny stuck and the washer stops with water in it after it tries to spin.””
The tumblers do not rotate in spin cycle only the wash cycle.
If you do a Spin Only cycle with no clothes in the wash basket do you hear the grinding noise?