Thermodynamically Reversible Processes: How does an infinitesimal step make a process reversible and how is maximum work derived from the process?
I'll give a mathematical answer, and an analogy also for ease of thought. These are my own intuitions, so they may work for you.

My mathematical reasoning: 

A lot of thermodynamic processes are phrased very carefully in terms of reversibility. Now my intuition of this is that reversibility is a consequence of the maths we must use.  Thermodynamics likes to look at continuous processes such that we can use integrals instead of summations in the calculations: this stands to reason since classical thermodynamics treats a collection of particles as moving, say, a piston continuously from one place to another, not in discrete steps.

Thus, one way to think about it is to think of reversibility as being necessary for an integral formulation. If we allow ourselves to try and think in infinitesimal steps, moving an infinitesimal step forward is just an infinitesimal away from going backwards and hence this is described as being reversible. In short, if a process really happens continuously then we must impose the condition of reversibility on it, otherwise the mathematics fails. 

My analogy:

Why this gives maximum work can be seen by analogy with a real life classical system: the tug-of-war. If you're in a tug of war with some of your friends who are of equal size to you and of equal strength, you're going to put in maximum work in pulling the rope. If one side is of unequal size and strength it becomes much easier for the stronger side. 

To be more serious, if your particles move your piston irreversibly (i.e. they never move backwards along the way) then no work has been expended in going backwards—only forwards. Reversible systems belie the work they've had to do since the physical outcome we actually see—the final outcome—shows the piston in the same place as the irreversible case, however what we haven't seen is the system battling backwards and forwards.

To conclude: if we imagine a set amount of work needs to be done to move a piston irreversibly from a point A to a point B, then the reversible case must provide maximum work since some of the time the system has battled going backwards and has still ended up in the same place as the irreversible case. 

EDIT: How to Achieve Equilibrium and still have Movement

I think the source of your confusion lies in the statement 'it was at the end of the step of the equilibrium'. I know what you mean by this, but I don't think it's precise. Equilibrium doesn't mean to describe position as such, but the oscillation of position. Even if you've physically pushed your piston a distance ds, it can still be in equilibrium by the very fact that it can still move forwards and backwards in its next spot. 

So in fact the periodicity of position is maintained at each step, which is what we mean by the equilibrium is maintained.

If we imagine a spring oscillating backwards and forwards, the movement of oscillation is what we mean here by a dynamic equilibrium. As long as this oscillation is maintained this equilibrium exists, however if we imagine our particles as springs, then the spring must be extended to reach its next spot. Hence in this sense we have equilibrium and movement can still occur.