My motorhome has the north/south bed arrangement, with engine access under the bed. Not too bad once you get the bed up, the engine access door up, and place some boards down across the access area to support your body when you lay down there.
If you have factory supplied devices to hold up the bed and engine access door, I suggest you not rely on those completely. It's hard to get out of there when the factory device fails and all of that is on top of you. Been there, done that, was not happy.
Every model will be different regarding access. Maybe someone with your model motorhome will respond.
Fred