A vehicle door control system includes a door assembly, which includes a side door and a liftgate. The door assembly includes an actuation assembly that adjusts each of the side door and the liftgate between opened and closed positions. A sensor assembly defines a rear sensor field, a first side sensor field, and a second side sensor field. A controller determines whether a person in at least one of the rear sensor field, the first side sensor field, and the second side sensor field is a recognized passenger, determines a speed of the recognized passenger, determines whether the recognized passenger is carrying an object, and activates the actuation assembly to open at least one of the liftgate and the side door based on whether the recognized passenger is carrying an object, where timing of activation of the actuation assembly is based on the speed of the recognized passenger.