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I always install westin because they have a great warranty. If they rust or flake return them no questions asked. To my knowledge all of the nerf bars for the F150 are going to install through the rocker panel but I could be wrong about this
Westin or DeeZee have always been my choice. I heard at one time DeeZee produces the OEM Ford steps. Not sure the truth behind this. As far as the frame attachment, you could consider having a shop fab you up a set. Not sure if you plan on using them for protection also.