Washer won't agitate, fills with water & will spin, but hums elsewhere

EDIT: It seems like it's problem is going from rinse to spin. Ran it through a small cycle and stops right after rinse. It makes that hum, then shuts off. There is a burnt smell, but not that bad. Ironically, going from cycle to spin works fine.

My working theory is the transmission, as it does make a bit of a rattling noise at agitation. Video: https://youtu.be/POABtLbIPts and when going into the second spin, it seems like everything locks up.

Video of the machine locking up: https://youtu.be/QzH00JX6Kxc

Spin works fine, but anything else just hums. Finding a bunch of answers & good places to start, but something's still not connecting.

First thought was something is locking the drive and tripping the motor. BUT, I take the belt off and the motor will not engage except on spin.

This is actually an Amana, but couldn't find a suitable appliance.

Thoughts anyone?

This was the closest & best read I've found, but has a lot of options.

Washer fills with water, doesn't agitate but will spin out water?