Yes, that is a screwy set-up!
I have an '09 3605, and the bathroom has 2 doors. One to the hallway that opens inwards into
the bathroom, and a sliding(sort of pocket door with no pocket) door out to the bedroom. No problem getting out into the hall when the bedroom door is shut.
I have made a mod to the bedroom door that holds it open, while on the road, so the cats can roam at will. Perhaps you could do that(or just remove the door) and install a fabric curtain or beaded curtain in place of the bedroom door.
....or just open the bathroom door, and then the bedroom door and step into the BR, then close the bathroom door followed by the bedroom door as you go back down the hall. No need to diet!!!