I love the ZR overland steps. They don’t look like plastic at all, very rugged aluminum design. They aren’t much “step” but just enough and stay sleek and don’t stick out much. They work well imo.
I am 5’10 and I was able to sleep in the back with my 5 year old son. I had to sleep at an angle but I fit and was surprisingly comfortable. I will be getting a platform in the future, but it worked for my son and I for a couple of nights.