Have a friend who had the same problem on his 2006 Dutch Star. We determined it was the motor that needed to be replaced. I suspect the motor developed some flat spots, probably from road vibration, and if it stops in one of these areas it won't be able to start to move the steps. I'd crawl under his rig and rap the motor with a rock and he'd open the door activating the switch and that always jarred things enough that the steps would come out. Be very careful if you do this though and make sure you keep your arms, hands and fingers out of the way of the moving mechanisms.