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We have the same issue. 2002 HR Endeavor, where step cover is about 2" below the main floor. The quick fix when we realized the issue was a piece of 1/2" plywood about 18" wide x about 26" long. i don't have exact numbers with me. I taped all the edges, top/bottom. Long dimension goes front to back, overlapping cavity 2-3" at both ends. short dimension is side to side covering edge of cavity and going to right side of passenger seat. Yes, we still extend the step cover. When it's not needed, up it comes and stores behind driver's seat between sofa arm and slide wall. It does the job, (she's 5'4,) her feet reach the floor. it doesn't slide on the carpet, inexpensive, lightweight, and ez to store. It was a 'quick temporary fix' prior to 1st trip. That was almost 3 years ago. So much for 'temporary', i may paint it eventually but other than that...
...ain't broke, ain't fixin...
Measurements are flexible, but if too long or wide, it may be a tight fit putting down/removing.
Good luck
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