The "pin" should be held in with a cotter key. Apparently the "key" either came out or wasn't ever put in. These pins bind up very tight when under the pressure of the motor. I got mine out by banging a set of vise grips with a hammer.
After I got it apart I found the simple method. Disconnect the power to your step motor, pull the three bolts that remove the motor, and the pin will fall out. You put it in with the new cotter key and reinstall the motor ensuring that the arm/step are in the correct relationship. It does not have to be perfect as the motor stops based on tension when it hits the stops.
Go to the Lippert website and you will find (hopefully....mine is a different style than yours as I have the semi-circular arm) the parts list/images/troubleshooting guides that will show you how to align the motor and reinstall.
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2016 Jayco GreyHawk 31DS
2016 Jeep Cherokee Trailhawk Toad.
SE Washington State
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