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A cheaters "tool" I use to pull the items from the back Tub is a short piece of Broom handle with a screwed in hook to grab it. 

I have a '10 171 and it does not have the fingerhole OR the hinges. Makes you wonder where the hole driller and hinger putter onner was that day. I have, however used the access in the little door under the bed and just like suggested , put one covered box and 2 laundry baskets under the bed, plus room for the dog's food and her carry on brush, treat, etc. case. Just getting up and down out of that hole is a bit of trouble, but can manage. Will have mileage on the tow by Monday, then the learning process starts.

Dang, now that you've said that you have me thinking.  Biggest problem is the area is only "twin" sized (in quotes because it ain't a twin, and the back bed ain't a queen) so it would take some major modification to put the queen there.

We also have a Early 2009 -R-Pod 171. I was told that the mattress is installed after they are made.  They bend them in half and slide them in.  My mattress only lasted one weekend till it was pulled out and replaced with a futon.  The metal frame was bending right at the opening that you crawl through to get into bed.  Much easier now to make the bed, flip it over or pull it off to get to the area under.  On my Camper on the Drivers side right next to the Fridge is the compartment that has the Hot Water Heater and that has been framed out and a cover placed on with 4 screws, then the area you can get to through the door also has a board on top with a finger hole and 2 hinges to lift it up.  And then at the very back of the bed in the cover of the outside storage that is screwed down.  We found laundry basket that slide nicely under the bed and store our clean clothes in one and dirty in the other.  Also have Tub under there.  Take a look at pictures here

http://www.rpod-owners.com/forum_posts.asp?TID=956&KW=171+bed&PID=10570&title=171-mod-bed-storage#10570  

Only thing I can see is cutting the mattress up and taking it outDo you think they put the mattress in before they finished putting the sides on the Pod? I have the 171. Even if you got someone to stand on the bed and managed to angle it to the "hallway", how do you bend it to get out the door. Yelpy, chain saw to the suckerI have not had time or taken time to test it. Waiting for a memory foam pad and that will have to do. If I can sleep on the ground without an air mattress, I will be able to sleep on this. But will need a disembarkcation schedual to get 2 people through that narrow hole out of the bed. No drinking after a certain hour either.