When you do replace, the main fork is 80% AFUE versus 90%+ condensing. The condensing furnace costs more upfront and needs PVC venting through a wall, but it wastes far less of every therm — and Kansas City's zone 4A winters, with their run of subfreezing nights and 10–20 genuinely bitter ones, give it plenty of runtime to pay that back on current Spire rate structures. In some tight installs (certain shared chimneys, some townhome mechanical closets) the venting work tips the math back toward 80%. There's no universal answer; there's a right answer for your flue, your gas usage, and how long you're staying.
One more KC reality: furnaces almost never fail on a mild day. They fail on the first hard firing night of the season, when every contractor's phone is ringing. End-of-life planning — knowing at year 15 that you're in the window, getting quotes in September instead of January, and deciding the 80-vs-95 question with a calculator instead of a space heater running in the living room — is worth more than any single repair decision. If the AC is also in its final years, price the paired replacement while you're at it; a matched furnace-and-AC install saves the second visit and gets the blower right for both seasons.