I use an IMEA bedrail to keep my little guy in bed. We found that the clamp it came with left a bit to be desired and ultimately just drilled through the wood and bolted it in place. It is harder to make the bunk but more secure.
Before that, we tried the under mattress rail that folds up from Walmart. It only worked because we added an extra mattress pad to the bed.
Ladder-wise, I bought a wooden bunk bed ladder and cut it to size. It's more secure and easier on the feet for my daughter. There are RV ladders, also. Amazon has then.
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Officially a SOB with a 2022 Jayco Precept 36C
Checkout my site for RVing tips, tricks, and info | Was a Fulltime Family for 5 years, now we're part-timing on long trips
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