I watched a few youtube fixit videos to help determine what the problem was, stripped threads, and how to fix it. I ordered the two parts needed and when they arrived disassembled the ice maker. I tried to pry the yoke off, tried vicegrips to hold the motor and twist the yoke. Wasnt working.
In the end I needed to get my Dremel and cut the threads close to the yoke and was able to then slide the yoke off. After that, reassembly was easy!