What ever method you choose to work on or, analyze this problem with the steps, and, if you're trying to get them to operate while you're under there, BE EXTRA CAREFUL!! Once those steps start to retract, they can do SERIOUS DAMAGE to fingers, YOUR HEAD and any other part of basic anatomy. They are NOT FORGIVING in that operation.
But, while lubing them on an "every so often" basis is important, that motor can get corroded and, so can some of the connections. Kwikee, in its later production of those step mechanisms, started using what's called "Weather-Pak" electrical connections which, are triple sealed against weather, road dirt and debris etc.
Good luck and be careful under there.
Scott