Hey, Jo, I solved the same issue for myself by elevating my bed enough that I just barely slide off it onto my feet while holding myself steady at my sides. Instead of standard slats, I cut myself a set of 4x4s. I added a small step next to my bed for getting in and can shove it under my bed when not in use. I just exit a little further down toward the foot of the bed. I park my walker right there so when I hit the floor, it's at my disposal (brakes on lock!).

Lately, I've begun having difficulty sitting up and put a canvas leg lifter over the right post and keep it tucked between the mattresses so it's right there when I need an assist.