[Richard]

I apologize in advance if this is something you obviously tried. If indeed the steps "jam" because of high voltage aka high torque on the DC motor, have you attempted to pull them out when the door is open?

As Tom said lubrication of all the hinges is critical. Also when you do get them out, look at them from an alignment standpoint. It is easy for the coach to sit on them, or to drag them and bend the arms. Misalignment puts the motor in a real bind.