Yes I've done this.
My wife did the same thing in 2013, pulling out of a filling station she flattened the top hinge portion of 3 doors (and bent the slide trim), put deep scratches on 2 doors and bent 1 door. I ended up repairing myself, my guess it would have been +$5K to have shop repair, maybe more due to slide trim.
I bought a piece of the hinge that attached to the door from Monaco (enough to do 4 doors). The portion that attached to the side of the motorhome was not available (unless I wanted to buy 20 pieces), so I had to buy a ~7' piece from a salvage yard (for twice the price was what I had to pay Monaco for 1/2 as much length
I replaced the hinge portion on the 2 doors first. I painted the hinge pieces before installing. This was to get the coach useable as the doors were just barely hanging on.
The next year I removed the 3rd door which had a pretty deep dent in it close to one side top to bottom and the hinge damaged. I removed the hinge and then clamped the door to my table saw and then used wood blocks to protect the metal and clamps to bend the edge back straight. I got 90% of the dent out doing this. Sanded the door down and then used Bondo on the visible portion of the remaining dent. I used piece of the door hinge that I was able to salvage from the old door to repair hinge. Reinstalled the 3rd door.
I then sanded the remaining areas of deep scratches down to bare metal, and then painted the 3 (of 4) colors that my coach is. Total cost for me to fix the 3 doors and hinge was ~$600 ($90 for new hinge pieces, $150 for used piece of hinge, $300 for paint and clear coat, plus misc supplies)
The overall job turned out pretty good considering this is the first time I've tried to do this. I showed it to my brother who has restored numerous cars and motorcycles and he had a hard time finding the spot.
Anyway, long story short you have 3 choices.
- Remove the door and have it repaired if the metal can be halfway straightened and use bondo then paint.
- Remove the door, have the sheet metal stripped off and new metal bent and reinstalled. The metal is probably held on with 2 sided adhesive tape (that's how mine is). the hinge portions are held on with rivets on front and back, they will have to be drilled out so the hinge metal can be removed. Then repaint the door.
- Buy a salvage door and have it repainted, I got a quoted from Visione Auto Mart in KY for a replacement door, they wanted $500 for my size door which was ~20" wide, it would have had to be repainted.
The estimated cost you got to repair seems high, if you are using an RV dealer to do this they know they can charge whatever they want.
Try finding a local body shop and see if they can do the job, it is not rocket science.