The onpy thing I can suggest, and I do apologise, because its is more time consuming than using the machine for the whole cycle, but, when the "wash" is finished (before the machine drains), remove the clothes from the machine and rinse in the laundry tub (or bath). Empty the machine, and spin dry the clothes in the machine. This is how my Mum does ALL her washing, on direction from my Great Aunt. As she says, you need to "take the clothes out of the water, not the water out of the clothes" (this is how to get your clothes lint free). My Mum's washing is always perfectly clean and lint free.

Oh, and only possible with a top loading machine.... Good luck.