I would guess you need some glute work. If your working foot is that high, it's good, because you want the bigger range of motion, but it ends up being the glutes that start the movement, and that could be why you're having issues. We usually use mainly quads on low steps (like stairs) as we are just looking to straighten the leg.
So bridges and the like will help get your butt activating and in better working order, which would help.
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