My advice, while you probably can do this with Rule Machine, I would use one of the various laundry apps that are much easier to use. They can account for various cycles, soaks, and so on.
These are the two that I know of off the top of my head, there are probably others too. I believe they are both available through Hubitat Package Manager. If you haven't tried that terrific app, you should. HPM makes installation and management of apps and drivers very easy.
