I would suggest you are better off having two switches (opto, magnetic, or even mechanical) that detect door fully closed and fully open conditons, that way your program can command the servo to stop without having to worry about stalled condition, or having to determine exact timing of travel.Lefty
You could make a setup like below using a gear motor. If youdrive the drawer from the bottom, the drawer might have enough upward play to lift off the wheel when being manually moved.
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