To alleviate my fear of riding on/up a ramp, I just laid the ramp (2x10 wood board with those bolt on aluminum bits) flat on the ground and rode over it a few times. Once my confidence was there, it was really easy since the only difference was a bit of an angle. I had/have ridden over & through much narrower and higher single track than that board. Just needed to convince my brain it was no worse. Stand up. Feet on pegs and just tractor it up & in. Never did acquire that skill set of letting a bike roll backwards while I was still on it. Always ended up walking it out of the truck or trailer.
Enemy of fun