You want to take off the door panel? For what purpose? May I ask - out of curiosity. The easiest way to get a manual for it is to convince Tesla that you are a Massachusetts resident and are entitled to have a repair manual for the vehicle. Otherwise, speak to a tech in service when you are at the service center and just ask him straight up.... Even though it seems impossible, that they will share that information with you, they may. Just be polite and respectful and they may oblige you.
@Ste73 -- See the removal procedure for a Model S, very similar
. Keep in mind the you will need Panel Removal tools. The Tesla panel clips are really strong and tight, and if you are not careful, you may damage the panel or its covering. Tesla does not reuse clips once removed, so you will need replacements. All that said, unless you have a good reason to remove the panel, I would leave to the service center.