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Here are some pictures of a fairly large dent on another car, before and after. The dent on the door is larger, so it will take longer to fix, but it is fairly uniform (there are not lots of little creases and waves in the dent). It should come out nicely if a skilled craftsman works on it.
Insurance will replace the door bc its cheaper than sitting there 20 hours fixing it. And if the impact bar is damaged then again, they HAVE to replace it.