I recently had a common problem with the Kenmore and Whirlpool washers. The clutch dogs had worn to the point that the washer no longer agitated properly and therefore the clothes were not getting clean. Other videos have this topic pretty much covered. The only problem I ran into was that the upper agitator assembly differs from those I could find.
Rather than using a ratchet with an extension and 7/16 socket to remove a metal nut, this particular model has a plastic nut that has a 1/2 inch square hole. To remove the plastic nut a 1/2 inch ratchet extension, without any socket, can fit in the hole and remove the nut. Unfortunately none of my ratchets are of the 1/2 inch size. I found that a 5/8 inch flat auger bit will fit corner to corner and will work to remove the plastic nut from the center of the upper agitator assembly. In addition to the difference mentioned above, I also noticed that on this model the upper agitator will come off without the lower agitator. This makes it a little easier to manage when swapping out the clutch dogs.
Part # 80040 Agitator Dogs was the part that fixed the issue with my washer. I got my replacement parts from Amazon for just under $4. They are a common part and easy to find at just about any service store that carries washer parts. They are usually inexpensive. This is a really easy and inexpensive DIY fix. If you think the clutch dogs in your washer need replacing, don't hesitate to follow the steps in this or other videos and check them for wear and replace them as needed.
Always unplug appliances before attempting any kind of service.
As always, I am not responsible if you cause damage to your washer. I did not use the correct tool in the video. It worked for me, without causing damage, but I cannot guarantee your results will be the same. I would always recommend using the correct tool. If you follow the directions in this or other videos on this topic, you shouldn't have any issue with causing damage.