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https://images.app.goo.gl/np6vYm7osn6a7B4Z7
https://mobilityexpress.com/milford-person-lift-vehicle-package.html
$4,500
I am an engineer and I would have serious reservations about designing (if I could) anything that mounts to roof racks to lift a person. Here is something that is likely much safer and reliable. Maybe you could start a go fund me for the purchase of this device for him? (FYI, you are a good friend to him!)