Camping, or doing anything, when handicapped can be a challenge. The recliners sound like a good idea, I sleep in mine at home a lot. I took one dinette bench
out of my MH (28' class C) and put a swivel office chair in the space. Really the only way I can sit somewhat comfortably in the unit. Due to accident I have a fused hip and no knee on my right side. Maybe a ladder with wide steps could help you get into the overhead bed. And the extra handholds are probably a necessity, just mount very securely. Good luck, and enjoy your MH!