I do believe you have a Kwikee Series 32 step with a curved linkage so you can replace the motor and linkage with the Motor Upgrade Kit for Kwikee Electric RV Steps # LC379145. This curved linkage is the "A" linkage that you've mentioned, so this is the complete kit needed to replace all of those components.
If you wanted to replace the entire step assembly with completely new parts you can use the Kwikee Electric RV Step Complete Assembly - Double - 32 Series - 24" Wide # LC372261. view full answer...
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