I actually rang up Qld Transport last week to check on the legalities, funnily enough they know when people ask this that their vehicle is a Jeep! It is illegal, the moment the Jeep is on a formed road, it must have the doors on for crash reasons. The doors need to be on for an effective crumple zone. Doors off are only allowed off-road. This is based on Qld law anyhow, i'm yet to take my doors off.
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