This was something that I did to my Pearson 36.
My requirements were that it be completely removable but it also needed to be tough enough to have me never question the footing.
This was the original plan I roughed out with pintels and gudgeons. Pad Eyes for the cable supports. The material was a plastic floor grate for a commercial kitchen. It was given to me as an oval and I cut it to meet my needs.
Now I have small kids and I'm in the process of rebuilding bigger and stronger. I'm going with a 1" SS tubing welded at most joints, decked over with something like 1/2" AZEK. The tentative plan is for a hinge system so it can flip up. It will look chunky but with the boat on a mooring, the whole family boarding via dingy and little ones that are like fish so far, it's got to be done.
I'll look and see if I can find some of the research pic's I've snapped of other designs I've seen.