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Is there any insulation in the doors?

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has anyone removed the inner side of the door or seen what's in there? I'm trying to see if insulation can be added to reduce traffic noise. it sounds like I'm in an open cockpit driving on the freeway.
Depends on your model year. Earlier vehicles had little insulation. It has become marginally better over time.

Personally, I would rip out whatever they use and look into a combination of dynamat and foam.
 
I did see some pictures or video of the inside of the door. It appeared to have a lot of insulation. they were working on adjusting the window because noise was getting in from the gap around door and the glass. the test for that was to insert a credit card and check for tight fit front all around.