They can. You just need to wait until the water fills up the inside of the car.
When the car first falls in, you have water outside the car and air inside. The pressure from the water on the door isn’t that high but the area of the door is large, so that small pressure results in a very large force…so large that you may not be able to push outwards hard enough to overcome it.
Once the car is full of water there’s no pressure difference and you can open the door.
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