There's holding doors open/remote autodoors in Alpha 11; I'm not sure if it will work exactly as you want, but might be something very close:
"May 4
It's now possible to hold doors open. Autodoors will remote open/close, while simple doors will be left open when a colonist passes. Enemies and animals can pass through held-open doors, and anyone can shoot through held-open doors."
"May 4
It's now possible to hold doors open. Autodoors will remote open/close, while simple doors will be left open when a colonist passes. Enemies and animals can pass through held-open doors, and anyone can shoot through held-open doors."