One way of doing it to comply wirth regulations wne racing is to have a lower door panel that comes as high as the cockpit seats. This door panel has to able to be locked in place. But you can step over it. Keeeping a full height door in place alll the time while sailing is crazy. 99% of the time I'd have that big door wide open. The ease of going below on the F-36 is one of it's attractive features.
One of my bigger boats MARLIN having some powerful fun on the coean with the big pilot house door wide open.