I have side bars welded across my door openings - tied into the roll bar. No problem when I don't use the top, but takes some contortionist moves to get in with the top up.
I can climb in here with the top up - don't use the top much, so it has not been a big issue. Had a friend ride with me in the rain at a SAAC Convention - he was a bit huskier than I am - had to unlatch
the top and fold it back to get him in, then re-latch it once he was seated.
I think having the side bars in my car has helped to avoid any side pipe burns - in fifteen years and countless rides, no one has ever burnt a calf on my pipes. The bars make getting out such a process
that you have to extend your leg out quite a bit to exit the car.
I think the welded cage provides much more strength than glassed-in doors would ever do.
Jeff