I started seeing this error when I switched from the Cool Plate (@ 0-35°C) to the PEI plates (@55-70°C).
Bambu recommends door open and/or top off for PLA, PETG and TPU to prevent heat creep.
The X1 has sensor to detect when the door is closed.
If I remember to leave the door open for PLA and PETG I do not receive the error.
The only clog I ever had occurred when using PLA-CF with a closed door.