Chuck,
Waterlox would be my choice, it is a very reliable, easily applied tung oil-based varnish. Not inexpensive but in at least 40 years of using their products on just about everything from boats to floors and furniture I have not had a failure. I can highly recommend this product for your doors which will get frequent use and need touch-up periodically. The finish is "in" the wood.
It is a concoction of "polymerised tung oil, ester gum, polymerised linseed oil, and a high ratio of phenolic resin" which allow for a high-build, tough, surface film. Repair is easy: sand out the damage and recoat! Waterlox is an excellent choice for your doors as it will give the qualities you are looking for , a tough highly scuff resistant finish with a satin sheen without the plastic look of polyurethane.
FYI. Doors need to be sealed and finished on six (6) sides to avoid problems down the road. A quart of their Original Satin will be enough to do the job.
Good luck.
https://www.waterlox.com/Portals/Documents/0a70f60c-5ba1-43d2-a33e-257a149476cf.pdf
