I took an Exacto knife and carefully trimmed off the plastic lip that runs along the top edge of the door sill. That completely eliminates the bottom door edge squeak, and no ugly tape or foam.

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1985 380SE Blue/Blue - 230,000 miles
2012 Subaru Forester 5-speed
2005 Toyota Sienna
2004 Chrysler Sebring convertible
1999 Toyota Tacoma