We crawl up but have a step. As @Van_Dweller said, sitting up is a must. Space is a commodity. We have a high bed but have given up full length top cabinets. Storage above or storage below, think about what might be up there. We have large drawers below our bed to keep our climbing gear and tools.
Also, our pups cannot get into our bed unless we let them. It’s a small spot and some nights it is just better if they are not hogging it up at their will. Especially if they decided to roll around in something nasty.