Sorry for the delay! Life happened! So, yes, a few times. Doesn’t help at all.
Many times the steps use the chassis battery not the house batteries. Be sure you have a good chassis battery and it is charged and it is always good to verify where the power is coming from. Best test for that would be to use the steps with the chassis engine running. If they work well with the engine running, you may have a battery problem. Many older MHs do not charge the chassis batteries when plugged into shore/generator power. This will cause chassis batteries to have a low state of charge and reduce their life expectancy.
If that makes no difference, be sure you are lubricating all of the joints. There will be 2 or 4 that are hidden and will require someone crawling underneath to get at them. Be careful if you do that as the steps could extend or retract while you are near or under them causing injury.
If all that proves good, next would be to disconnect the step assembly from the motor/ actuator and hand free wheel the steps to be sure they are mechanically moving freely.
Look for anything bent or anything that has been hit.
After all of that, motor and actuator becomes likely.