Heat might help, but you will never be able to fix it 100% IMO. Realistically to get it fixed you need heat + some sort of "mold" to match the texture.
Be VERY careful if you try to fix it yourself, as it is extremely easy to overheat and melt the plastic and cause more of a mess than you started with.
I have several similar scratches on both driver and passenger doors that I have just learned to live with.
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