Help with step up and/or grab bar on 55.5

[GFY]

I probably should have done this before I painted my truck, but the paint shop had an opening before I was 100% ready, and I jumped on it.
My truck is high, and can be difficult for some to get in (impossible for others). Has anyone installed grab bars and or step ups on their 55-59? I'd like to have something on the inside of the cab to assist ingress and egress if possible. Step loops or nerf bars would also be of interest.
It's on a 77 frame, so nerf bars from a 77 might work, or be able to be modified to work.
I'm concerned about the step up loops, as they appear to mount to the body, and I don't want to mess it up.
Anyone have any experience with any of these?