I have had the same issue on my 2020 and found that a 3 step process works best. Do this when it acts up:
1.) Clean all the joints with a parts cleaner
2.) Spray widely available PB blaster penetrating catalyst into the joints and let it soak in for a few minutes....work it in by actuating the running board and helping as necessary
3.) Spray a bunch of white lithium grease in joints...work it in by actuating the running board
I live on a gravel road and I was worried about the grease attracting dirt, but I actually have found it actually protects dust, water, snow, and grime from getting into the joints. I was ready to rip these boards off but found great success with this method.