Yes, in the Broken Valley village. If you are standing close enough to those doors (within about 8 feet, or so), pointing the crosshairs in the middle of the screen at them (anywhere on the door), you should be able to right click or hit 'e' to enter. When you can interact with the door there will be a message to the right of the UI at the bottom of the screen, saying:
Location name
Press (Right mouse button) to open
