Had the same concern and I asked my dealer to make one for me for our mid-entry coach.
Basically, it's a piece of wood covered in carpeting that matches the rest of the rig. The wood square sits on top of the small outside lip of the stairwell.
It's not strong enough to stand on in-motion, but if you did walk on it or over it, it holds. (Would also support a dog/cat). I wanted it for our cat and also if we ever took our older parents with us traveling (for extra security as everyone goes down the hall to the bathroom). This way if anyone was thrown off balance for any reason, they wouldn't fall in the stairwell "hole".
Very cheap and works well. When not in use, can store under the bed easily, or against a bedroom wall.
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2016 American Coach Revolution 42T
2004 Jeep Wrangler Sport
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