Just an update… I approached the Toyota dealer and even they were stumped. Kinda swayed towards an earthing problem, or something that has been added to the car (aftermarket). I recently had a trailer brake controller installed, but that was a plug & play unit, and the issue didn’t start right away. They said that was unlikely, then. They wanted $165 just to diagnose. I told them I’d do a bit of digging myself 1st. Seemed to get slightly better by itself (door open light only coming on sometimes), but still had an issue where alarm would randomly go off. Rather annoying for everyone when it decides to start screaming around midnight. Neighbours love that. I checked all the wires and plugs on the passenger side. A bit dusty but no water ingress. I unplugged each plug and cleaned out with my electrical clean and lube spray, and also sprayed around the fuse area. I figured, while I had a day off, I would also check the trailer plug that was recently installed. Apparently my father in law got fed up trying to direct my missus reversing the caravan so he got in to “do it faster”. Because he thought he was better at it. He ended up jack-knifing the caravan, damaging the newly installed plastic flat plug housing. Lights still worked so didn’t think much more about it. Just how we weren’t going to let him drive the car again. I uncable-tied the plug (temp secured) and let it hang, and water poured out of it. Seemed to be more water than it could possibly hold! I let the plug hang to dry out and didn’t have the door open issue after that. I’ve now installed a metal housing trailer plug.
Basically, to cut a long story short (maybe I should have done that before making you read the whole post), the problem has been gone since then. Not sure if it was the trailer plug, or cleaning/lubing the plugs under the dash, but it seems to have sorted it out. Touch wood.
Oh, and the demister did work fine throughout this whole issue