If you remove the 4 screws holding the metal motor cover to the plastic housing, you can slide out the motor. Make sure you mark the position in relationship to the plastic and metal pieces as they are often reinstalled backwards causing the retracting when door is open and extending when door is closed. A clean cloth and solvent will remove the gunk buildup on the worm gear exposing it for inspection. A good cleaning, re-lubricating and Proper reassembly often solves many ills on those steps.
Now a word of caution, depending on your unit, you may have to pay particular attention to the reassembly where the two spring loaded guides (brush) on the shaft are in the proper position. This is a common cause of steps not opening or closing. The the guide will hug the shaft and move in and out opposite each other to ensure the motor remains in a specific working position while spinning freely when working. However a good jolt or other forces can cause just enough of a gap between those two guides on one side for the entire motor to jump put of alignment and not spin freely. So pay attention and make sure it can spin before remounting. I found on my unit that a small rubber bumper epoxy to the end cap area of the metal housing was enough to keep the magnets from moving the motor when the guides hiccuped and allowed enough of a gap to no longer hold the shaft in the exact position needed to have the steps move in and out.
So, you'll be surprised how much a cleaning and greasing/lubricating can restore full function to those steps.