The quality of the printed output is unacceptable when printing images.

The images seem soft and are not clean and sharp. The resolution at the final size is in 72dpi?

The resolution of the image is too low. Resolution at 72dpi is for viewing the image on a computer monitor only. Images which are intended for printing need to be a high resolution. If the image is not at a resolution between 120dpi and 300 dpi this causes the image not to have a good number of pixels, therefore, losing detail when the image is printed out. You can try upsampling the image to a larger resolution but the image still will be “soft” when printed. The garment is too far away from the print head, check the garment height using the auto height adjustment and reprint.