I used soft Nylon webbing grab handles intended for a Jeep JK Wrangler.
I drilled through the a-pillar and used a large flat strap on the outside to brace the pillar once the handle was bolted in. It is hidden by the door weatherstrip when it's in place.
I also used one on the opposite side a-pillar and a third one where the factory grab handle would be on over the passenger side door opening.
I use the one on the driver side every time I get into the truck.