Like many other folks building a van for outside adventure we built our bed up high to allow for lots of gear and large bicycles, etc. But that can present a problem when it's time to climb up into the bed at the end of a long day of adventure. At first we would stand on a milk crate or bring the step we use at the van door inside for the night. But we need that step if we need to get up in the middle of the night to go to the bathroom or something.
Enter "The Cleat" We found this folding small step in with some sailboat parts and it is perfect for just that leg up you need to get into a bed platform 40 inches high. It also helps for climbing back down in the dark. Here is a video with more details.