For a Biclcye I too would just put it inside or perhaps lay it in the bed of the tow vehicle in front of the hitch (not bening).
I have a bracket that goes on the ladder that can carry a bicycle I used it for something else if you were in SC instead of AZk, i'd PM you and you'd do me a favor. but alas It's not expensive to buy one if you want to. Holds bicycles or chairs. You need some straps to make sure.
I'm not sure I'd trust an RV ladder with much weight bouncing down the road however. They are not that strong in my not very humble (I pulled mine off with one hand. NO screwdriver, just one hand) opinion.