I have a 89 Winnebago with the power steps and sometimes they don't work either, but it is not because they need lubing, it is because of the switch being in the wrong position. It takes a few tries but eventually it works just fine. You can set the steps to stay out (or not work even with the door opening or shutting) based on the switch position. They run off the aux batteries so make sure your switch is in the on position for the aux batteries.
If they don't work, contact the maker and they can guide you or find an owner's manual for you.