Everyone that rides in my '96 bronco says I need an Oh shi* handle so they can either get up into the seat or for something to hold on to. Is there one from another vehicle that would mount on the passenger side? I know the 97 and up F150 had one by the windshield pillar and some other ones like my ranger is above the door.

 

Ya, I need one of those too. And in my mother's case, she needs a ladder to get in my truck.
I would think that you can fab-up any kind of handle to fit the pillar or above the door. I'm not sure who it is, but I remember someone here using one from an LTD(or something like that) he picked up at an auto graveyard. Do a search.