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Yea I have a dog like that too. Just when I think it's about time to go for the final ride, he perks back up and becomes a puppy again.
I have a 5th wheel so I don't have a step issue but I have seen in motor homes where someone had built a cover for the steps made of plywood and hinged it from the side toward the front of the coach. That way in case of an emergency you could still get the door open and jump down without having to lift the cover.
good luck
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