That Airstream Sprinter Westfalia I mentioned had built into the cabinetry strategically placed steps to get into a higher bunk. I was intrigued by that idea. I have some ideas.Of course.
I just thought a ladder was a bit mundane from an engineering perspective, whereas something techie and gadgety would be far more interesting. Since you're designing the beds from the ground up (pun respectfully intended) with the ARV people assisting, why not add a little architectural bling?
However you do it, I'm sure the finished product will be unique.
Good luck. Have fun.
An old idea dating from Benjamin Franklin is a "library ladder chair". Google that.