How do you get an NPC to navigate through doors while using PathFindingService?

If an NPC is trying to reach a constantly moving destination such as a player, how do I get it to go through doors, if that’s the only way possible to reach them? Setting the doors to CanCollide false won’t solve this issue, according to this post. Is this even possible?

Possible solution: When the path’s waypoints are being calculated, you can check if one of the is touching a door, and have several paths calculated between doors until you reach your destination. However, you can’t get any waypoints if you can’t find a path blocked by doors in the first place.

Setting it to CanCollide false should work if it’s in the Default collision group, according to that bug report.