Yes there are plenty that you can stand on, there are two main types you have the choice of
1 round bars, these are normally oversized tubing with flattened sections that have a plastic step on, i use these on our van for my youngest lad as he struggled to get in and out
They are ok but an adult (especially someone elderly/not overly active etc) would struggle to get purchase with their foot as they are only approx 3 inches wide so it’s more toes on there rather than feet
2 full side steps, these are more like a running board/platform and are much larger and run the length of the van so can be stepped on anywhere and have more room for a bit of extra foot purchase, more practical but some may say less aesthetically pleasing ?