The hitch step I have looks like this one:
link:
Pilot Automotive - Hitch Mounted Step: AS-551
It rotates left or right and extends. I can't tell if the one I linked to rotates.
Edit: Here's a better photo:
prod_3349076714.jpg
There are lots of options for rear steps. Google "hitch pet step" for example. There are not too many for side steps. The step Greg linked to looks nice and stable. I wonder if you could haul it aboard with a tether?
A note attached to the steering wheel would be a helpful reminder to not leave the step behind.