Before I bought my rig I read up on four wheel drive and the consensus seemed to be that most people never, or rarely, use it. The exception is those who do overlanding / off roading. I know I won't be going too far from highways and if I do, it'll be with others. My truck is too old, I'm too old, and I know nothing about fixing the truck, so I'm staying fairly close to civilization. I'll also have a shovel, tow strap and traction mats.
About the big step up, I've been checking out different ramps. Eg. the ones used to haul mobility carts or lawn mowers
I'm thinking if I found the right one, I could put a small stool on it. Height wise, they are even/level with the bumper so you would still need a stool. But the ramp and carrier would feel safer than scissor steps IF they don't wobble.
Torklift has scissor steps with a railing, but I can't imagine the railing feeling very secure.
I love having the gate down for a place to sit, but I've read the cable can break (if you keep it down long term).
Maybe the carrier/ramp thing isn't feasible. I have no experience with carriers. I thought of it originally as a solution for my 13-year-old Chow Chow. I may have to take her with me and don't want to have to lift her. I know it's unsafe for her to ride in the camper, but I'll drive carefully