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If you have an strips of thin sheet metal laying around you could try cutting a piece to use as a shim to give you a little more clamp bite. I mean aside from replacing them as already suggested.
I had that problem. I loosened the clamp, whacked it with a rubber mallet until it was all the way forward and then re tightened the clamp. It held for a while but eventually worked its way loose again. So, I repeated the procedure and then zip tied the rear clamp to the saddle bag brace. So far so good.It ain't going anywhere and, yes, it's a rig job but who cares? The zip ties are completely hidden by the saddle bag so no one can see them.