I travel with my wife, my daughter, and my wife's mother who sleeps on the convertible twin bed (I did purchase a 2.5inch memory foam topper for her to supplement the dinette cushions - okay for a back sleeper but a bit thin if a side or prone sleeper). My family sleeps perpendicular to the long axis of the truck not lengthwise so I have to climb over my daughter, my wife, and my mother-in-law if I get up earlier than them. I just make the process slowly and carefully. Obviously the ladder won't work with the twin bed in use but the edge of the fold-down countertop is one footrest and then I try not to step on Mama! We tried an alternate arrangement with me on the twin bed and "girls upstairs" as my daughter said but I am a bit too tall to really sleep stretched out unless I raise both fold-down countertops (and that created an additional obstacle for all!). I think the comment about "eight in a camper" shows that it just takes a little forethought. I actually have more trouble getting over my daughter's toys (just like at home!).
Jonathan
P.S. There's also the roof-mounted escape hatch! I can do a combat slide off the front or a parachute landing fall to the side or scale down the monster spare tire to the rear...I just hope the side door is unlocked - d'oh!