The figures for torque always need careful reading. Usually, they are at 1 cm from the spindle center, longer arms exert a lesser weight, but do it over a greater distance. On most models where they get used, they have a long arm for the required travel, which cuts the actual pulling power a lot.
Unpowered, you just have a gearbox and motor. Since they are spur gears, they can be driven from both ends becuse the losses are small. Smaller for the motor because it is gearing down, greater for your fingers because going that way its geared up. Powered, the electronics will cause the motor to try to correct any repositioning that you apply with the force it says on the label.. Give or take a bit. Anyway, enough that trying to stop a moving servo by grasping the output shaft will probably damage your fingers. High torque servos in the same size box have the same motor and therefore power as standard servos, but have more gearing and take longer to swing through the same arc at the arm. Winches have another gearbox between the output shaft and the position sensor to give the required turns.
How many degrees do the doors need to turn through? It looks like 90 should do, which is convenient because thats what servos normally give for the usual stick throw. So, how much room is there available above the shaft? Starting to think "tiller arm from rudder" and a wire linkage to the servo arm.