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If you're getting brown streaks, use a towel with 10% bleach/hot water mixture and wipe out the front rubber door gasket as gunk can build up in the lower bellow area in the folds. Other than that, run a cycle with a product called Washer Magic which you can pick up at Lowes or Sears and run a cycle with this product to clean out the washer. If you still get brown streaks after that, it means that your rear drum bearing is leaking grease and that is quite a major repair at about $600-700 so it may be better to replace the washer even though it's only a few year old. If you did replace it, I would recommend getting a Samsung front load washer as they tend to be the best and quietest on the market currently.
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