I'm thinking those in the picture are decent enough. However, I'd add a little tube to act as a step. But not necessarily a step to get in/out of vehicle, it would be used as a step where a person can stand on while holding on to help ballast the weight through a slow crawl. Second, when off-camber, the extra sticking out would hit first before any body (most of the time), and act as a skid. Third can be used to skid around a verticle obstacle (ie. tree). Fourth, would help those in the back seat to be able to get in/out either via the door or through the open back end (conv't). Fifth, would help pull over a rolled-over vehicle. See many uses........
I think Shrockworks has this setup for the Sami and Xterra from their website.