First of all congratulations on your new truck. You will really notice the difference when you are coming down a tight twisty mountain pass. Way more stability and control than a SRW truck.
I carefully put my foot on top of the tire. I do think they make a lightweight step that fits over the top of the tire that you could stand on. They make an air chuck that has two ends for dually tires. One for checking air pressure and one for adding air. Even with my SRW truck due to the height I had to get climb onto the tire..
Happy and safe roads to you.
Tom Marty
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