Hah! Well, first I step back about five paces, and get a good running start...
It took a little learning. I really don't have to swing my leg all that much higher, so getting on is no problem, since I "see" the cans and mentally prep for a higher lift. I've tapped them with my heel once or twice getting off the bike, because I forget they're there. If I had it to do over, I'd probably move them back about three inches, and down about four, but that would have required tools that I didn't have access to.
Here's a picture of the frame they lock into. It's fairly simple, using barrel bolts. I fitted some u-brackets behind them that I drilled to fit safety pins into for travel; should the bolts come "unlocked" during a ride, they can't back up out of the brackets mounted to the cans. So far they seem to be riding fairly well, there's a little play in them, but not enough that I'm overly concerned. I think I might get a couple tension straps to put on them for long hauls - both aesthetics and peace of mind.
And here's one of the brackets on the box.