Here is the way I carry the steps when pulling a trailer: Note the 4 extension bars. These are important and flexible as to use.
Here they are when I use the rear rack with fuel and firewood:
and folded completely under for a better departure angle (on the White Rim Trail, Moab)
I've used two models of steps: Step Up Products, 4 step version that I had to add those 4 bars to make it fit the height of my camper, and
Torklift Glow Steps, which are wider, deeper, and heavier construction but stiff connectors which only gets harder to fold up and pull down when in dusty, sandy conditions. Not satisfied with either steps I've been trying different types of 36" to 40" tall step ladders. I think I've settled on Little Giant with the hoop cut off which hangs on a rack on the rear steps: Kind of heavy but very wide and deep steps and a lower entry angle.
and these which were very lightweight but did not allow the door to shut without moving the steps.
jefe