I am approaching a similar issue with my partner, she is finding it harder to enter and exit the van.
Because we are staying in a CP while her treatment continues, I aquired a 3 pallets and made a set stairs. before we start travelling again I will buy a set of aluimimum loading ramps and will remanufacture them to a gentle ramp with a hand rail.
Just make sure there is no chance that the handles fail. Like a plate behind & a bolt through it to spread load. Otherwise could be a repair to both patient & van.
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If people are frail, and if they qualify for Home Care benefits, then these sorts of assistance devices (handrails, lever taps, ramps) are provided by the government, at least for your home. I have never asked about vehicles or vans, but perhaps they would be included, too.
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Handles/handrails that attach to the outside of a van are also available. Some also improve security locking.
Here is a sample of one, though cheaper makes are available: aussietraveller.com.au/products/thule-security-handrail