Whirlpool Gold gsq9364hqo doesn't always spin on the spin cycle. The motor runs but the basket doesn't spin. If I lift the lid the motor stops, then something (clutch or pawl?) catches and if I put the lid back down than it starts spinning correctly every time. Any ideas?

Check the motor coupling. It's between the motor and transmission. If it is good, check the clutch and brake

Sounds like the switch at the lid is going to me.