Each of the two serrated rollers must "walk" around the torsion spring as you open and close the door. You can rotate each gear to another tooth (which is prbably still painted) or put a smear of lithium grease at the contact point (smearing it anywhere else simply messes things). Add a drop or two of oil to the pivot of each wheel and another down the side of the torsion spring where it bears against the casting (it has to rotate against that surface). A few cycles of the door and things should be quiet as new.

Our drivers door on our 745 was making noise. I tried lithium grease and it did not work, could not figure out the cause but was similar to yours. I sprayed WD40 on the hinge and the problem was solved. I think the noise is caused by the metal rubbing and by using a penetrating oil in the cracks it stopped the creaking/rubbing noise.

I'd be interested in knowing if anybody has a cure for this, too. My wife's '93 940 driver's door does this also (sometimes - then sometimes its quiet), despite liberal amounts of lithium grease.