Is it a thought to perhaps open up the outer gates altogether? That way interaction between the estate and townsfolk gets encouraged.
Of course the gates would remain lockable, in case of emergency, and people stll can not trespass without breaking the NPC rule.
I can just imagine townsfolk coming and going quite frequently to resupply the estate, perform small jobs and so on.
I think that wasn't too uncommon for estates from that time period, like the local miller or candlemaker coming by to make deliveries.
Although this welcoming attitude might be a little out of character for the Wachter family, I'm not sure. That's for the staff to decide.
In any case it would all be under the watchful eye of the guards that will continue to patrol and look down from on top of the walls.
(And just to clarify, I am only referring to opening up the outer gate. Absolutely no public access to interior locations without keys.)
Following the line of thought from the original post, is it possible to allow only natives (characters indicated as commoners by the OCR) to bypass a door?