I've used Whirlpool for the first time a few days ago. But I used it in sparrow wallet. You basically have to create a hot wallet then go to the utxo tab and select which utxo's to mix. And if you want it to mix to cold storage you have to have that wallet open in sparrow too. Use the xpub to import it. But tldr sparrow has lots of info on their website about coinjoin.

I've never used dojo or Whirlpool or samourai wallet to mix yet.