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Sorry for the delay in replying, I only just came online and saw your question. Are you still looking for help with this?
If you are, there are a number of components in "The drive system", so we need to try and work out which is at fault first, before we can work out the likely cost.
Firstly, can you tell me how old the machine is?
Does this error show as soon as you select a cycle?
If not, will it agitate correctly in the wash part?
Disconect the power and check all the wiring and connectors to the motor, first. Then retry
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