I have one of the old school class Cs that J-D referred to. No basement, low floor, and quite a climb into the overhead. I sleep up there using the factory supplied ladder.
Can't add much-but I will say the whole thing gets easier and more second nature with practice. Including positioning to go down the ladder, testing a foot on it, then going down. Done it many times at night in the dark. I am now very comfortable sleeping in the "loft."
For others reading this-I encourage you to check out alternative sleeping places in your potential RV in case you can no longer use the overhead. When I bought mine, I looked at the jackknife sofa as a fall back. At some point I may be to creaky to climb up there.
