I saw a K-01 Serf use an emergency access door, despite the fact that non-combat bots are not allowed to use them.
There was no apparent reason behind this behavior, and seems to happen consistently when reproduced with the attached save files.
Video example :
https://imgur.com/a/serf-uses-emergency-access-3C8yNTtSeed : FlyingDamperNanovents
Save files attached, one from a bit before it happens, and one from directly before it happens.