I am looking at something like the very rough sketch attached. It is essentially a vertically folding ladder that would fold up against the bathroom wall when not needed leaving the drawers unblocked. You could use HD velcro to hold it to the bathroom wall and to hold the ladder in the closed position. When open the structural load would be supported by the legs on the floor and tip over prevented by the over the bed edge supports. For closing, it could be stored on the floor in an unused area. There are some boat ladders that use this principle and could be modified to work.
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