i've used both, and i'd definitely recommend a ramp over any type of stairs -- i'd especially advise against stairs beyond 2 or 3 steps, as just one mis-step, and a toy dog of any size can easily fall off and get injured. besides which, yorkies especially, are very leery of stairs and it can take a long time for them to learn to use them...in fact, many refuse to ever do so.
a ramp, on the other hand, is much safer, and most take to it quite easily -- usually, just a few tries (with treats put along the way), and virtually all are able to master it with no problem.
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