The interior of my Bronco Sport scratches with the most basic, routine daily use, it's extremely frustrating. For your issue specifically, I think the side-door protectors available on Amazon for doggie use are probably a good solution (but, do consider the risks of letting dog hang head out...
I've got a Big Bend (no package) with a grey interior and with black and grey cloth seats and I love it overall, but am surprised at how easily the interior scratches and scuffs, and how easily the cloth seats mark up. The glove compartment has a scratch on it from absolutely nothing I can...