It's a science. Spin and lunge. Every one I know gets in and out with a grunt, though. I got a good friend (girl) that complains every god damn time. I just tell her to shut up. I tell em' all to shut up. Comes with the territory and it's worth looking like a buffoon every now and again when I'm carrying beers in one hand and my keys in the other, pushing the door open with my shoulder. Meh.
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