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Have you thought about a light weight ramp for him. A 12" wide piece of 3/8" plywood covered with carpet. Lay it flat when he's going in or out and then lift it over on it's side when you're using the steps. You could even attach it to the far side of the steps with a support underneath and you both go up and down together, you on the steps and him on the ramp.
You say you carry him, so you could also put him on the ramp and lift the ramp up and let him walk in. Do the same on the way out. Lift the ramp and let him walk out, slowly lowering it. Obviously, he would have to agree to this. :-)
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Don & Mary
2005 Monaco Diplomat 36SKT - 400 ISL 
2010 Nissan Frontier - CrewCab - 4WD
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