|Rocker panel protection
By using a tube of about 2 1/4" diameter the rubber molding of the door sill is well protected as well as the door. Impact from directly underneath is absorbed by the angle iron and the seam reinforcement. Side impact is also mainly absorbed by the reinforced seam.
If needed, the outer structure carrying the tube could be taken off during every day driving - the angle iron would stay in place. Only when necessary (you are probably not running tough trails every weekend) you would bolt on the outer structure.
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Here is how the tube protection would look like:
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