The door pieces require removing the door panels. They are held on with tiny nuts on studs embedded in the wood. You can search on door panel removal procedure, but it's straightforward for most, involving screws holding the door latch piece and armrest, and one holding the vertical trims which you can see on the outer part of the door/window frame.

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1986 560SL
2002 Toyota Camry
1993 Lexus