This topic would be interesting to my wife as she too sleeps on the wall side of our 2350. She gracefully lets me sleep on the isle side for two reasons.
1) That is our relative sleeping position at home
2) I would feel cramped without the ability to over-hang my feet when a larger gap forms between my head and the head board.
My wife struggles getting out unless I first do, so most often I get out for her easier exit. The few times I don't is when she is try not to disturb me. "Just disturb me please".
It seems to me there are a few places for a grab bar to attach
1) to a ceiling joist, but you run the risk of bumping your head on it.
2) above the thermostat
3) to the shirt closet. But we have a TV there which would not allow for it.
Something like this is "Hospital" like, but are very strong and have no sharp edges to get hurt on if bumped. These are bought at most home improvement stores.