Eeh, no, Quake used lightmaps. Quake 3 used more advanced lightmaps with static GI and still could have matching lighting on static geometry and dynamic geometry.
I guess the trick was to make sure doors/plats are in the position player will see the most (e.g. if the door should remain closed most of the time, that’s the position it should be in when lighting is baking). So when lighting was baked, doors/plats received lightmaps just like any other geometry on the map. So in default position, you couldn’t tell which one is movable geometry and which is static.
Of course when door would be triggered open, lighting on wouldn’t change. At that point you wouldn’t care as it wouldn’t be seen much or would be only seen momentarily.
Dynamic objects would still be affected by 3D lightgrid, so it would help a bit when pre-lit dynamic geometry moved.