We carry a telescoping step ladder that will go up to 13 feet and hold 350 pounds. I think that is the best option but understand you may not have the storage space.
However, having said that, we have carried that ladder around on 2 rigs for many, many miles since 2009 and have used it exactly once!
A wind storm knocked a tree limb down and broke an amber marker light on the front cap....used the ladder to replace it. Nice but the funny part was I stopped at a truck stop to get the new marker light and the girl at the counter said "Hey, do you want to borrow a step ladder to change that out"? :)