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I once had the clevis pin back out partially, get bent and cause something similar. I found a new clevis at Lowe's or Home depot to replace it.
It's kind of hard to wotk on as the motor seems to push the step up against a stop in either direction. The only way to get it to stop half way so you can attempt to work on it, is to pull the wire connection apart. Beware of the moving parts. That thing is strong.
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