Hi deputydog,
I was not sure at first if I could fix my step. I wanted to replace just the step and reuse my controller and motor, but decided to devote a day and give it a shot. I removed the step then I used a big hammer (sledge like but shorter handle) and hammered the side frame straight on the concrete floor, then used wood 2x4 blocks for support to hammer the step brackets straight. I also used about 2.5' of wood beam standing on end to work the metal side brackets. The last part that was difficult was to bend the inside brackets back into shape. They have a squiggle shape so they can retract back into the mounting bracket, and were bent somewhat straight.
As you already stated it would be difficult to remove the bracket from the frame, so I stood it on end and laid a 7/8" combo wrench between the bracket and frame and hammered it back to the correct shape.
I only ran into one issue, the weld broke for the cross support rod during the metal work. I hammered it back into position and took it to my local body shop and had him weld it for me. 2 hours later I picked it up and reinstalled the step into my RV. (He didn't even charge me, but I gave him some lunch money for his effort

)
Since I have never had a fully functioning step, I was delighted with the results. Hope this helps,
John