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It would be interesting to disconnect the steps from the motor pivot arm and operate the motor to simulate extending the steps to see if you get the same noise at end of its travel. The video shows how to do this safely so the pivot arm does not whack the side of the motor/gear box. The fact that this happens only at the extend steps end of travel might also seem like the gears in that portion of travel are worn or damaged somehow. Moving to another portion of the gears (per video) might make the difference. If it works it saves (or defers) a motor/gearbox replacement.
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