When doing weekend open houses (cheap entertainment—we get to sneer at the crummy taste of people with homes 200%+ the price of ours) we saw a grab bar next to the pair of steps in the garage. Hmmm, same setup as our house, and our mothers (both alive at the time) have problem knees, so…
We couldn’t find the right sort of grab bars at LowesDepot (as my wife calls them collectively) but did find an industrial-grade towel rack that has worked fine vertically (for grabbing, not towels) for the last decade and a half. And has seen waaaaay more use from the two of us than any visitors coming in through the garage!