On the Model X, when your enter park, the door control panel appears (great)!
Change the design so if already in park, and another tap of Park also displays the door control panel.
If you pull up and park, then use the console for other things (route planning, etc.), it would be nice to access the doors panel to open doors for people arriving.
This is different than unlocking the doors (which the lock icon does in the top-left of the main display).