Here is the EASY way to replace either the motor or the linkage.
When you remove the motor/linkage, make sure the linkage is not fully extended or retracted. Operate the motor by having someone open or close the door and once the linkage starts to move, disconnect either the motor connection or (easier) the 4 way quick connect. That stops the linkage halfway. The steps should be able to go in and out with just using your fingers. IF THEY DO NOT FREELY FLOP IN AND OUT, THE STEP IS RUSTED AND THE STEP ARM LINKAGES NEED LIQUID WRENCH TO FREE THEM UP. Then it is a easy task to then get the pin into the linkage to the step pivot. You never have to loosen or remove those concentric side lock adjustment pivots. Doug