I have this error now, can drive and able to charge but the door is having a mind of it’s own
Tried to look under the panels this morning to verify is the door removable as DIY. It is, here is my steps to go through (with the help of repair manual).
You need to remove the charge port in order to get the door and taillight assembly out. Tesla is insisting to disconnect both 12V and HV Fireman loop to work on the orange HV cables but you can remove the port without disconnecting the cables. I have GEN2 port (EU version).
There are four screws holding the port on car and two screws and a nut holding the HV cable bracket, pointed here:
Taillight is attached by three nuts, 8mm. They are hidden behind body section and requires wrench extender, also remove the patches covering the holes:
As the motor for the door is attached to the light you need to twist and move the light towards the front of the car, try not to brake small plastic edge right under the door hinge:
Now the panels you need to remove to get there. Tesla manual advise to remove also the floor cover but if you just set the side panel edges back under the floor cover, you don’t need to do so. Some models have additional wirings behind but mine did not, so here they are:
This trunk side trim is quite large and has mouldings to cover the lower sections as well. Oh before that remove the C pillar panel: