The drive mechanism isn't as complex as may be expected.
A few details that may be unexpected:
1) Incoming water fill is channeled through the lid via spray jets and capture flumes on the rear edge. The lid cannot be open during fill. Bleach and softener cups are at the front corners of the top deck, part of the fill flow diverts through side channels in the lid at appropriate times (first rinse, final rinse) to flush the cups. The detergent dispenser is a double-cavity gizmo (left side liquid, right side powder) that mounts to the underside of the lid.
2) The tumblers (clothes lifters) rotate in one direction, they do not reverse during washing and rinsing. They do reverse for a partial-turn at the beginning of spin to center the load in the drum from having climbed up the side as happens during tumbling.
3) The lid locks through the entire cycle and tricking it is difficult. There are locking pins on both sides near the front corners. A magnetic sensor is on the left side, a magnet must be placed in the correct position at left side of the top beside the lid bumper. Both locking pins are spring-loaded. The right-side locking pin must be held extended just past the "balance point" of the spring (as if the lid is properly closed) to trick the mechanism ... it won't work if the pin is fully extended. Easiest work-around is remove the top clips so the top can be raised, which also allows the lid to remain closed for filling.
4) There's no brake. The spin drum is heavy with a lot of inertia, takes a long time to coast to a stop.
5) It can sense if the hot/cold supply hoses are connected in reverse, electrically reverses the water valves to compensate.
6) The balance-sensing routine tries several times to distribute the load, then refills/tumbles if necessary. IIRC it does the full routine twice if necessary, which is six or eight spin attempts, then signals an unbalanced load fault and unlocks for attention. A accelerometer (shock detector) on the control board detects if the drum impacts the cabinet during any spin attempt and maximum speed is limited to 500 RPM in that case.
7) There are two fill levels. The lower level is for the wash phase and 1st rinse (also the 2nd rinse if extra rinse [3 rinses] is selected). The higher level is used for the Bulky cycle and the final rinse on all cycles.
8) Distribution spin / balance sensing starts before the water drains. It neutral-drains first to the lower level if the higher level is in play.