Our first PC was a 2350 and I can not think of any point around the bed strong enough to support a grab bar. You might be able to build some support inside the shirt closet, but I don't know if the closet could handle the weight.
I would suggest you wait until Monday and call the factory, explain what you are doing and ask for Bobby. The folks at the factory are always willing to help an owner regardless if they bought it new or used. the number is 877-754-8535 toll free or 574-266-2020.