If it was the lid switch, it wouldn't allow the washing machine to continue the rest of the cycles.
But I edited my post above, turns out it's a common problem and the defective part is the timer. It needs to do a "pause" for the clutch to get out of neutral. Maybe my timer is defective over the mid-cycle.
When the wife and kids go on their trip for a month, I'll take apart the washing machine to find the replacement part. Right now that machine is running 2 times a day, so I can't put it out of commission for a couple of days