The F21 error code indicates a long drain time on this type of washer. The door will not unlock if the washer control detects that water is still in the tub. To manually unlock the washer door, take these steps:
After opening the door and removing the clothes, I recommend emptying any remaining water in the tub with a wet/dry vacuum (or bail it out). Since you already have the bottom front service panel off and the washer unplugged, you can arrange shallow pans and towels to catch any remaining water and pull the large item filter out of the drain pump assembly as shown in the second image below. You may find a clog in this area that is preventing your washer from draining properly. Clear any clog or debris from this area and reassemble the washer. Check your drain hose for a kink or clog. Check the washer house drain for a clog or restriction. Test the washer to see if it will drain properly.
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