Kenmore 70 Series sometimes won't drain or spin

We have a Kenmore 70 Series Model No. 110.22722100. During the wash cycle, there are 2 times we have to physically lift the lid in order for the washer to spin, and then drain/spin. If we don’t do it, the cycle still continues all the way until the end, but clothes are wet at the end and I don’t think they are getting clean or rinsed. I read somewhere that it could be the neutral drain assembly, but also just read it could be a timer issue. Any ideas? Thank you.

Probably the timer. The timer is supposed to pause to allow the machine to go into spin mode. When you raise the lid you create this pause for the timer.