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You can teach your dog to wait until released through a door with the cue of the door opening and you can also add a verbal cue. The benefit of the door opening being a cue to wait until released is a useful safety behavior, for example if you live on a busy street.

Teaching a default wait is in no means an excuse not to take the proper safety precautions, for example having a double gate if you live by a busy road or having your dog on leash when the door is open. No matter how bomb proof your dog’s behavior is, it’s just not worth the risk if something unexpected were to happen.