The Lippert system makes it impossible to rack the frame. The "C" channel cross piece rides inside a slightly larger "C" channel. When the first leg hits the ground, it stops lowering and the motor continues running while the inner channel , motor and screw drive slide inside the larger channel, and the opposing leg lowers until it hits the ground. Both legs then raise together maintaining equal pressure between them. This system is IMO the best available. While it is not perfectly stable, it is VERY good. Much better than the other older systems. The original screw jackstand jacks are of course the most stable, but they do have drawbacks in ease of use. Especially when boondocking on soft ground which often requires restabilizing every day or two
If the steps are causing movement, it is likely frame flex. The steps do impart a LOT of force due the the leverage they have.
Adding jacks just in front of the wheels, will have a big impact on it.