Personally, I’m interested in full height barn doors where the tailgate is removed (ala Caravan, etc., topper). Will you fab something similar?
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After 10ish years of dealing with the tailgate with my Wildernest...still haven't figured out the best way to get in and out.
Crawl in...or sit on my butt, spin and flipping over to get on my knees...and scoot/crawl/shimmy in. Leave tailgate up, snaking up and through while stepping over tailgate, which so far the most comfortable, but you tend to get your pants filthy since the tailgate is usually covered in grime.
My favorite is trying to step up on tailgate, hunched over (so I don't have to crawl) and scrape my back on top of window frame as I trying to move forward and up at the same time.
Getting out is the same, plop on my butt on the tailgate, and scoot out...or squat, shuffle my feet while trying to turn my head to the side trying not to hit my it...never fails, usually pulls my hat off and it falls in the dirt.
Full height barn doors would be a great option. Or a hatch with a smaller door in the middle. Hatch gives you an automatic awning...