This is the fix I did on the door awning on my 2006 Journey:
Note, I didn't write the procedure, but I did follow it and the awning has been working for 100-150 cycles or more since the repair.
What the problem was, is the motor shaft is very soft metal and the sleeve it goes into is hard metal. The shaft is "D" shaped and the edges of the flat spot get rounded off allowing the shaft to turn in the sleeve.
The fix is to drill a hole in the sleeve and through the shaft and pin the two together.
It was not easy to drill a straight hole through the sleeve and the shaft, but it is doable with a steady hand & care.
Another forum entry with the same kind of repair, part way down the thread: