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It can be done in stock, but it's extremely hacky. It involves a pseudo-hinge or loop made of cubic struts, and a 2nd ship consisting of a probe core and the door, opening/closing with reaction wheel torque, and with docking ports to hold it in the closed position. The door-ship/module is trapped in cubic strut hinge loops at each end. There's a video of someone doing it on YouTube.

While the hack is interesting, my opinion is that you're much better just doing it with mods. My recommendation would be the B9 pack, it has several different cargo bays to choose from.

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I know it can be done with mods. That's why I said I wanted to know how to do it stock.

Well, then the short answer is that it can't be done cleanly, only by complicated hacks which could attract the attention of a Kraken.

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What about expanding on the landing leg idea and packing like 8 of them in close proximity. Retracted your cargo can get out, but extened they block an opening... maybe not like solid cargo doors, but a middle ground.

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