I meant “Norman” above (“The Design of Everyday Things” author.

Agree completely. My studies as an industrial designer emphasized that if you can’t intuitively and immediately figure out how to go through a door, the design is at fault, not you. See Nelson.
That was directed at building doors, but I think the same is true of car doors.

Yep; am aware that current Teslas have emergency egress from the rear seats. Not my ‘21 M3, though, as I explained.
And no emergency responders access from the outside, so.

This seems like common sense to me. In my '21 Tesla Model 3, rear seat passengers cannot open their doors if the electrical system is down, as after a crash.
Meanwhile, emergency responders can't get in without smashing windows.
These issues could be designed out. It's time for Tesla to do so!