Agitation issues. Everything else appears/works normally.

Shift mode sensor Orange thing at bottom of washer stuck on spin not shifting for agitation common in Whirlpool & Maytag and few others

Does sound like it's not balanced properly, or maybe it's set on drip dry instead of spin , basic solution i know but often the best lol ,

The sounds of 'metal grinding/banging" begs the question of whether or not its even safe? If you hear that sound all the time or as you say ONLY during the agitation cycle suggests that you be able to service the tub/motor mounts in the underneath chass--which is a heavy-duty technician job. A Maytag technician has the tools you need. Or the obvious...get another one from a friend who is upgrading to a new washer and hands it down to you for a little change.

The water is probably siphoning out of the tub. Your drain pipe is either too low or the drain hose is down too far into the pipe. Take the drain hose out of the pipe and lift it high. I'll bet your problem goes away

there should be agitation..dont know unless its not making the connection in the control head..

Either the wire going to motor for non working speed is loose or damaged, or motor is bad. It could also possibly be timer not sending power to motor for that speed.

The motor is working, but the mechanism not engaged by the helix so the shaft can not move therefore no agitation or spinning. Motor is designed to turn 2 directions: clockwise and counterclockwise for agitation and spinning. Therefore there are 2 mechanisms to assist these tasks. The drain is control by a separate pump and it is still good also.
The tube has to be out to replace the helix for agitation and a part to engage with the spinning rotation to release the brake so the spinning function can work. These parts are cheap, but the the labor is not. Hope this can help

My Performa started leaking from the Drain Pump rubber gasket. It had dryrotted. However, Maytag doesn't make a replacement O-ring gasket. You have to buy the whole new pump! Thanks Maytag.

Fisher and Paykel pride 5.5. It is about 11 yrs old