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You actually have a 2020 SV34. The chassis is 2019 but the RV is a 2020 model year. The first Magnitude was released was a 2020 model year that they started selling in 2019.
I have a 2020 SV34 as well and the batteries come out but it is a tight fit through the step opening. You can actually put 4 batteries in there but it is a very, very, very tight fit.
First, make sure you have the step open as far as you can. Use a bungee cord to keep it open. You then need to remove all of the battery cables. You will also need to move some of the wiring in the battery compartment. Mine was a rats nest of wires that I can to clean up.
If they wired yours like mine there may be a single post bus bar mounted to the bottom center of the battery box. I would remove that as well so you can easily slide the batteries around.
Then you want to slide one battery as far under the forward step as far as you can but be careful you do not let the terminal hit the metal and short out. Then you want to lift the second battery at at angle and start to work it. It might be tight because of the weather stripping around the step opening.
It will take some maneuvering, wiggling and patience but it will eventually it will start to slide out the opening.
Another owner on here I know actually cut out the side of the battery box so he could slide them in and out from under the coach easier. I never went that route but I was able to get 4 batteries in the battery box.... before I converted to Lithium batteries and installed them under the dinette seats.
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