When to hold the door is a fine line of courtesy.
Essentially if it all can happen in a fluid exchange then all is good, but if someone is required to stop for more than a couple beats then everybody should move on.
To my thinking, if you hold the door for me with too long of a gap with the expectation that I'll hurry up to get there then you're the one being (very minorly) rude, not me if I don't.
But there are always those awkward gray areas where the timing just seems off for everybody.
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