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We also have a 29M. I can't help you with the height of the bed as I like it being 6'7, but my 5'3 wife just deals with it. She would like a step up too. We also have a 12 year old Bichon. Getting her up on the bed requires us to pick her up or get some steps. The ones at CW or elsewhere don't work. I found a guy on etsy who did a custom set of steps that we put against the back wall of the coach that have the right amount of width and height to work perfectly so our dog can get up and we don't have to worry about removing them for the slide-out. His store is "Petsteppin" and he is out of Missouri. Fair price and solid craftsmanship. Good luck. Hope it helps
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