The "endpoint" is set up via door_create(); the client connects by opening it (or receiving the open fd in other ways), and make the request by door_call(). The service sends its response by door_return().
Except that the "handover" between client and service is inline and synchronous, "nothing ever sleeps" in the process. The service needn't listen for and accept connections. The operating system "transfers" execution directly - context switches to the service, runs the door function, context switches to the client on return. The "normal" scheduling (where the server/client sleeps, becomes runnable from pending I/O and is eventually selected by the scheduler) is bypassed here and latency is lower.
Purely functionality-wise, there's nothing you can do with doors that you couldn't do with a (private) protocol across pipes, sockets, HTTP connections. You "simply" use a faster/lower-latency mechanism.
(I actually like the "task gate" comparison another poster made, though doors do not require a hardware-assisted context switch)
The SPARC context switch code, to me, always was very complex. The hardware had so much "sharing" (the register window set could split to multiple owners, so would the TSB/TLB, and the "MMU" was elaborate software in sparcv9 amyway). SPARC's achilles heel always were the "spills" - needless register window (and other cpu state) to/from memory. I'm kinda still curious from a "historical" point of view - thanks!
Switching from task A to task B to service a "fast path" call AFAIK (have no access to code) involved using WIM register to set windows used by task A to be invalid (so their use would trigger a trap), and changing the ASID value - so if task B was already in TLB you'd avoid flushes, or reduce them only to flushing when running out of TLB slots.
The "golden" target for fast-path calls was calls that would require as little stack as possible, and for common services they might be even kept hot so they would be already in TLB.
Is that it?