With iOS16, you can use the Magnifier app to detect doors around you, help you understand how far you are from a door, how to open the door, and get a description of the door’s attributes. When doors are detected nearby, you’re notified with sounds, speech, or haptic feedback. The feedback becomes more frequent as you get closer to a door.
How to detect doors around you
Go to Magnifier
Tap the 4-cornered icon on the right
Then tap the door icon
Position your iPhone so the rear camera can detect doors around you
You're supposed to hear a sound or speech feedback - if not, make sure your device has silent mode turned off
When you’re finished, tap End to return to the Magnifier screen