If you google rv steps on Amazon you will find a variety of solutions but they all appear to deal with the step into the living area of the rv from the outside.
I considered the permanently mounted, slide out, type for my 97 PW but was concerned about potential mounting points and what it might do to the underside clearance.
We ended up just getting an inexpensive single footstool but you can see that they make more expensive fold-up ones that wouldn't take much storage space when on the move.
For the actual driver and passenger door you might try looking for something that's designed for high rise trucks.
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