Ive had the same issue on my previous Model S, and service tried fixing it multiple times with no luck. Tried multiple adjustments and packing lots of foam into areas. So this time I decided to see if I could easily fix the problem myself.
Just a couple of days ago I added some small strips of foam insulation tape/weather seal to solve that exact problem. Works great! The adhesive didn't seem great, but so far Ive had no issues with them unsticking. If i have issues in the future I'll use a better double sided tape.
I only added a small strip at the top, where the door seal makes contact. It blends in great and no one will even notice unless its pointed out.
This is what I bought:
It's way more than i need (33'), but it was only $10 and I have other uses for it. I couldn't find a smaller amount that was similar, but maybe you'll have better luck.