It is possible to use firewalk to get through the doors seen in image 1:
Step1: stand in one of the cornerns alongside the doors.
Step2: press and hold firewalk and aim on the ground near the center of the door, when aiming at the correct location the targeting area will be partially displaced to the other side of the door.
Step3: use firewalk, this now teleports the player to the other side of the door.
this works on both sides of the door.