Yes. In the ST31QB we had we bought a baby gate for the bottom bunk. It was a metal pressure fit one and you could buy additional extensions for it to give you the necessary length. The pressure fit worked well (I didn't want to put screws in in case we traded it in (which we did) or so we didn't have screw holes when it was time to take it down. I did get a small 'L' bracket which a screwed into the wood under the matress to prevent the gate from bowing outward (leaving an area the child could get stuck in.) All in all, I think it worked pretty well. It is a little tight swinging the gate open and closed or if you need to climb in bed with the child. That said, I am 6'2" and could get in there ok. My BIL made a set up for his 5er and built stairs into the set up as well. He did have a bit more room as his bunks were in an 'L' shape and not parallel like ours are. We also drape a dark towel over the back big window so the light didn't come in.
Had: 2007 ST31QB
Have: 2008 Winnebago Sightseer 35J
2006 GMC Yukon Denali