GX 460 difficult to enter and exit for seniors

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My 2019 GX 460 is becoming difficult for 5 foot tall wife who has arthritic leg condition to enter and exit vehicle on passenger side. Same issue if she wishes to drive when entering the driver's side. Is there some option others have tried to make entry and exit easier for shorter seniors. I was wondering if a different running board that was wider or with an additional higher step than the O.E unit is available in the aftermarket. I remember some of the competitors to the Lexus GX model had grab bars positioned near the center console to make entry easier. That might help if available for my situation .