Door DOES NOT have to come off. Kick panel cover does, as there is a hidden stud that passes from the hinge into the body with a 13mm nut on the back side.
1) Remove inner fender liner and sound deadener
2) Remove drivers kick panel plastic and remove 13mm large-shoulder nut (it is pretty deep in there and a bracket will be pretty close to in the way)
3) With door open and supported, remove the 4 other bolts (two body-side and two door-side)
4) Wiggle,twist, warp, and curse at door hinge until it finally clears and comes out of the car.