Update: I did manage to spend a few minutes in the 100+ degree weather to look at these steps. Thanks for the suggestions so far. I pulled the power connector to the motor and can see it going +/- 12V when I open and close the door. Light on the steps comes on as well.
So, considering I should just try and replace the motor. The current one is AME 214-1001. I 'think' I found a replacement on amazon Kwikee 1101428 Motor Replacement Kit ($65). They say it will replace this motor.
Then I called my local rv place and they are pushing an entire upgrade kit $360 plus tax. I'm curious if that is really needed. I can get the motor and the Kwikee 1101425 Gear/Linkage Assembly both total ~130 bucks. I'm not sure what else may be missing for such a price difference.
I think probably wise to do both.