I want to make a "thick soft body door", but not sure if cloth simulation is the way to go?

I want to create a “thick soft body door”, and I thought that I could come out with it easily using the cloth function.
This is what I obtained:


After playing a bit with the parameters, my best guess is that the cloth component is not designed to do the stuff that I want to do.
Additionally, I couldn’t find a way to make the cloth interact with the physics bodies, which I need, because the player will move through the door.

Should I go in this case with the traditional skeleton and bind physics sphere colliders to the bones blablabla?