One option is a '"lift mate". Straight onto the wheel. https://hi-lift.com/accessories/lift-mate/ Or get rid of the stupid OEM side steps put in some decent rock sliders and use those.
I mount mine on brackets that fit to the roof rack I got sick of it sliding around in the tub or when it was packed full of gear it was a pain to get too
If your not prepared to stand behind our Troops Then try standing in front of them