I found a situation where Copper Golems will fail to open a door they should be able to, resulting in them getting stuck without player or redstone intervention.

I’ve attached a world file where I can easily reproduce the issue.

Expected behavior

It approaches the door on the upper level in the attached world, opens it, and reaches the chest.

Actual behavior

It approaches the door, but makes no effort to open it (it is wooden), resulting in it getting softlocked, unless a player or redstone opens the door for him. I think this might be related to the blocks directly adjacent to the door, as modifications to them will allow the golem to correctly proceed.