Custom transom swim ladder
The Ranger 22 has a transom with a pretty pronouned slope and that is perhaps why you don't want a ladder on it, but you might want to consider something I did with one of my boats many years ago. I had a ladder made up out of aluminum, 1" square tube, that was removable. At the top end it had outward hooks that hooked to the stern rail. It simply layed on the transom and at the bottom of the transom, the ladder hinged and went into the water. There were two feet at the bottom of the top half (just above the hinged portion) so that there was some toe room. Two feet at the top might be needed as well. These feet provided space between the ladder and the transom so you had enough to grab on with your feet. No holes to drill in the boat. No leaks to worry about. It simply removed by lifting it off the transom. You can bring your design to a machine shop and have them weld it up for you, or you can even make it out of round SS tubing, but the expense would go up.