Dont go back now on the door panels so they are both the same. But on the flames I would have foamed only the outside surface and bevel cut the the pattern edges and left the deepest surface un foamed. That way you glue to a non-flexible surface (foam flex added to making the definition go away). If you use heat (carefully!!) and a fiber stick or a plastice knife with hockey tape wrapped over the handle you can heat and force the material into the corners.
But you did good keep up the good work. One thing I recommend about the gun is tape over the breather hole on the top of the lid and leave the glue in the gun. Wipe the gun tip with mineral spirits right after your done using it and it will stay trouble free for use even if you dont re-use it for weeks. Just remember to take the tape off the hole and shake it up good before you restart as the glue separates.