Nothing special about the presser foot, except it had a smooth bottom. Some have serrated bottoms which is not what you want to use.
As far as what to use on your door panels, that's going to have to be trial and error. Do some mock-ups using different thicknesses of foam and different thread sizes, see what looks the best, and then do the door panels. You may not want to use closed cell foam, the original panels wouldn't have been done that way.
It's really hard to duplicate the original heat sealed designs that were on the OEM door panels. You may want to look into reproduction door panels. CLICK HERE