Not necessarily, there’s some other stuff to look at since this could be several different things.
If I remember right these are in the spin position by default, so the tub and agitator will move together.
You’ll need to look at the splutch and shift actuator/shifter.
You can lay the washer on it’s front, remove the pulley cover and belt, and that should give you access to the shifter and splutch.
On the shifter there should be a finger that goes in a cam loop on the splutch. Make sure that is in the cam loop.
If it isn’t, put it back in the loop and see if that fixes the issue. If it does, keep an eye on the washer for that issue to come back. If that finger comes back out you’ll need to replace the shifter.
If the finger was in the cam loop, remove the shifter and move the cam loop to the other position by hand. If you’ve got someone helping you they can open the lid and see if the agitator now moves independently of the tub, or if you’re by yourself you can go around to the top or stand the washer up and check that, you’ll need a piece of wire or something to keep that cam loop in position since the splutch is spring loaded.
If you can manually change the position of the cam loop and the agitator moves independently in one of those positions without the splutch pulley slipping, either the shifter is bad or the control board isn’t powering it. I can let you know what to check if that’s what you find.
If it seems like the splutch is slipping when you spin the splutch pulley with the cam loop moved then the splutch will need to be replaced, either the teeth on the pulley or slider are worn, or the spring is weak. All that comes together when you order the splutch part # I referenced earlier. You’ll also want to take a look at the splines on the gearcase to see if they are worn out.
If it seems like the splutch is engaging but your agitator still isn’t moving freely or if the splines that the splutch engages on the gearcase are worn, then the gearcase AP6993917 will need to be replaced. I usually recommend replacing the splutch and gearcase together if the gearcase is found to be a problem.
https://www.appliancepartspros.com/whirlpool-gearcase-w11454741-ap6993917.html