Agree about the interior door mechanism on Lucid. I can imagine people have to ask the owner how to get out, but it's something they're likely to remember on subsequent rides. The rear Falcon Wing (FW) door controls in the X are very easy to see and operate. Just a couple of illuminated touch-sensitive buttons that have handy pictograms showing doors open or closed. Easy peasy. The problem is, I have to explain when and where the passenger may use those buttons, and typically when I park, I just deploy the doors from the driver's seat since I have a better understanding of obstacle avoidance and the likelihood of the doors fully opening in a given situation (parked too close to cars in a parking lot, pulling into a parking structure with low ceiling height, or parking on a sloping driveway, etc).
The real passenger confusion I was in agreement with the OP about is on the exterior. When passengers approach the parked vehicle to get inside. There's always a ton of confusion about where to press the FW door handle/patch to open. Usually takes a couple of tries. Then when the door starts opening, the passenger is invariably standing in the wrong spot, so sensors detect an obstacle, and the door stops moving before fully opening -- which, of course means I either have to intervene by closing and re-opening the door, or with the door partially open, the passenger usually insists on contorting themselves to crawl through the smaller aperture because they just want to get inside and can't be bothered faffing around with the door switch to fully open the door.
The MX Plaid is my second Model X (the first being a 2019 P100D), so I knew what I was getting into with the doors when I opted to trade up for the Plaid in 2022. However, over time I've just grown tired of training people (my family who ride with me frequently) on the peculiarities of the blasted FW doors. Not the entire reason I'm ditching the X, but a contributing factor.