Advice for an Audio Notification when a Door is Opened

There are a number of ways:

Satellite Announce action
Music Assistant Play Announcement action
Chime TTS

The exact templates and actions that you will need to have the door/window name announced depend on a number of factors like the notification integration you are using, so you will need to provide more information if you want something specific… the basic outline for the automation could be something like:

triggers:
  - trigger: state
    to: 'on'
    entity_id:
      - binary_sensor.door_front
      - binary_sensor.door_back
      - binary_sensor.door_side
conditions: []
actions:
  - action: assist_satellite.announce
    target:
      entity_id: 
        - assist_satellite.m5_atom_echo_01
        - assist_satellite.voice_pe_01
    data:
      message: "{{ trigger.to_state.attributes.friendly_name }}"
      preannounce: true