Storing variables in module script

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You don’t need to store it in the self. It is just unnecessary instances, you can store it in local variables, or remove them at all. For example:

local TweenService = game:GetService("TweenService")
local tweenInfo = TweenInfo.new(0.75, Enum.EasingStyle.Linear)

local Door = {}
Door.__index = Door

function Door.new(server, instance)
	local self = setmetatable({}, Door)

	self.Server = server
	self.Instance = instance
	self.Open = false

	return self
end

function Door:Init()
    -- i have removed these variables, so just using self.Instance.Hinge for example
	local hingeCFrame = self.Instance.Hinge.CFrame
	local openDoor = TweenService:Create(self.Instance.Hinge, tweenInfo, {CFrame = hingeCFrame * CFrame.Angles(math.rad(90),0,0)})
	local closeDoor = TweenService:Create(self.Instance.Hinge, tweenInfo, {CFrame = hingeCFrame})
	self.Instance.Prompt.Triggered:Connect(function()
		self.Instance.Prompt.Enabled = false
		if self.Open == false then
			self.Instance.Frame.Open:Play()
			openDoor:Play()
			openDoor.Completed:Wait()
			self.Instance.Prompt.ActionText = "Close"
			self.Open = true
		elseif self.Open == true then
			closeDoor:Play()
			closeDoor.Completed:Wait()
			self.Instance.Frame.Close:Play()
			self.Instance.Prompt.ActionText = "Open"
			self.Open = false
		end
		self.Instance.Prompt.Enabled = true
	end)
end

return Door

Also you can define types, for example:

--!strict
local TweenService = game:GetService("TweenService")
local tweenInfo = TweenInfo.new(0.75, Enum.EasingStyle.Linear)

local Door = {}
Door.__index = Door

export type Door = {
    Instance: Instance & {
        Hinge: HingeConstraint,
        Frame: Frame,
        Prompt: ProximityPrompt,
    }, -- this will add autocomplete when you type self.Instance.
    Open: boolean,
    Server: any -- idk what it is :>
}

function Door.new(server, instance): Door
	local self: Door = setmetatable({}, Door) :: any

	self.Server = server
	self.Instance = instance
	self.Open = false

	return self
end

function Door.Init(self: Door) -- this will add type autocompletion on self
	local hingeCFrame = instance.Hinge.CFrame
	local openDoor = TweenService:Create(self.Instance.Hinge, tweenInfo, {CFrame = hingeCFrame * CFrame.Angles(math.rad(90),0,0)})
	local closeDoor = TweenService:Create(self.Instance.Hinge, tweenInfo, {CFrame = hingeCFrame})
	self.Prompt.Triggered:Connect(function()
		self.Instance.Prompt.Enabled = false
		if self.Open == false then
			self.Instance.Frame.Open:Play()
			openDoor:Play()
			openDoor.Completed:Wait()
			self.Instance.Prompt.ActionText = "Close"
			self.Open = true
		elseif self.Open == true then
			closeDoor:Play()
			closeDoor.Completed:Wait()
			self.Instance.Frame.Close:Play()
			self.Instance.Prompt.ActionText = "Open"
			self.Open = false
		end
		self.Instance.Prompt.Enabled = true
	end)
end

return Door

If you don’t know what is types, check this: Guide to Type-Checking with OOP