I am thinking something like a
Multi-Purpose Aluminum Folding Step Ladder - Scaffold Extendable Heavy Duty, folded into a scaffold, might be an option for your heavy grilling/cooking needs. The one in the link states 39.75"(H) when in its compact dimension so shouldn't be too high for a grill. Only issue might be width, front to back when used as a table, to support the grill. An additional board a rung or two down could be used for extra grilling items.
Can also double for roof access anywhere around your RV :)
