Kenmore 90 series washer will get stuck in between cycles

My Kenmore 90 series washer works fine washing my clothes, but after the wash cycle it won't go to rinse. I have to agitate the machine a couple of times to make it go to the next cycle or rerun the wash cycle. Or another time using it it will wash and rinse fine but get stuck in the spinning cycle. I again either agitate the machine or rerun the last cycle. Then sometimes the machine runs completely fine.