Enable the AI to use the ramp when requested by passengers.
In vehicles having a manual ramp, have the driver engage the hand brake and leave their cubicle (open their door, that is to say) to assist with ramp dragging. Part of the driver-conducted passenger window adjustment work-flow could be reused.
Postpone passenger movement (by having them perceive the corresponding [entry] / [exit] as closed) until the ramp has been adjusted to its fully open or folded / closed position.
Downsides:
No actual wheelchair-using humans support for the time being.
Passengers would appear to "step through" the ramp when lowered at the time of their disembarking / boarding.
Low likelihood of the casual observer ever noticing.
Enable the AI to use the ramp when requested by passengers.
[entry]/[exit]as closed) until the ramp has been adjusted to its fully open or folded / closed position.Downsides: