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Believe it or not the agitator will come off. Look under the fabric softener cup. There should be a fastener (nut or bolt) to loosten. Give the cup a good cleaning while you have it off.
Once the nut is removed you can work the agitator off.
The part that the screw holds is turning independently of the screw. Remove it and inspect for torn splines or other motion locking device. Repair or replace the part using Loctite on the screw threads.