Several years ago my kwikee steps jammed out just before we were to leave on a trip. Doing a web search I found this is a common problem that most have fixed with a new Taurus motor, which I did. I didn't think it fit great but I did get us on the road. Worked fine for a while, until it didn't. Fortunately I still had the original motor and found a blog posting by Chris Bryant. Here is the address, but at this time the link is broken, but credit where credit is due:
http://rx4rv.com/kwikee-repair-part-2/ broken blog
If your Kwikee steps simply get jammed, and you are getting power to them (you can hear the box click when you open or close the door, and the under step light is going on and off), quite often it is just these small plastic parts that are bad- not the whole motor. The symptoms of failure for these parts are that the step will get stuck in the extended or retracted position, yet the step is still getting power
Dorman 74410 Window regulator gear plugs, available at most parts stores or Amazon for less than $10.00.
Basically take the motor apart, replace these parts, put it back together. As the plugs become obround in use they create a bind.
Also check out this post: https://safaritoonces.org/safari-toonces-the-beginning/site-overview/exterior/kwikee-steps-2/
I've also seen the rivets replaced with nylon bushings and new rivets.