Since I didn't want to drill any holes in the exterior of my
Burro, I opted for a low-profile type grab bar. I mounted it just inside about 3 inches from the door on the closet wall.
Inside the closet I used a short piece of 1x2. I also used rounded stove bolts, fender washers, lock washers, and to keep my clothes from getting snagged, I used acorn nuts.
That was 3 years ago. If I had it to do over again... I'd do it the same way!
Oh, and it makes a perfect place to use a Canopy Tie (small bungee cord with a ball) to keep your door from a possible opening while in travel.