IMHO, the main question is: is the car must behave exactly the same way after a door loose (ie: without changing the shape and the weight of the car) ?
If yes, the solution is probably to build the car with a single body (from physics point of vue) and to "attach" other elements while rendering (with raydium_ode_element_RelPointPos() for example).
Then, it's easy to extract (visually) an element from the car, creating a new physic body for this element. You must "monitor" collisions to detect when an element must leave the car. It also possible to build breakable joints (such a hinge joint) instead of just throwing the element away from the car, so the door can flap a bit before falling of.
PS: actually, there's no joint feedback for fixed joints in ODE, so there's no breakable fixed joints with Raydium. We may implement a small workaround (using collision force ?) to allow this, so the car can be "automatically" destructible . This solution is obviously slower than the first one, but more "realistic". And you can also use breakable hinge joints with this solution, too. The other good point here is that this solution is automatically "network friendly".
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Sorry 