The door opened from inside offers a welcome that access alone cannot provide.

Having permission to enter and being welcomed are different experiences. A key lets you in; someone coming to the door means a person interrupted what they were doing because you arrived. The first is an arrangement, the second is an act, and only the second tells you that your arrival registered as good news. Institutions can grant access, but nobody has found a way to automate being met.

Where you can, do the small physical version rather than the efficient one. Go to the door, walk someone in, come out to the car. If you are the guest, notice when it happens, and let the person know you noticed.