I watched some videos on YouTube first that said you could flip a latch on the door hinges and remove the door entirely. On this older oven there was no latch, you just open the door to its first position and lift up and out to remove the door. Unlike newer doors leave this one face up on a table to work on it. Remove all (10?) of the screws along the bottom edge, pull away the side door trim pieces, then remove the outside panel of the door by lifting slightly then pulling downwards. Mine was actually a glass panel, so be careful. Remove the two screws holding the upper door trim down onto the hinge mechanisms and rotate the trim out of the way. Lift off the large metal cover to expose the first, outer glass, then remove the insulation, then remove the screws and clips holding down the metal frame around the inner glass. Clean everything well (I used a baking soda paste), then replace in the reverse order.
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