FWIW
If your guest is traveling with a companion, I doubt anyone will object to them disembarking at a safe and convenient spot near the door, even it is is a Fire-Lane. Just don't leave the van un-attended. My wife used to work for an 'assistance' agency and that's what she was told to do if the van spots were taken or the weather was bad.
The legal principle is something like 'competing harms' but if anyone says anything just try to look pitiful and ask them to help you.
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