This visualizes the classic “fork in the road” Knights-and-Knaves style puzzle: one guard always tells the truth, the other always lies, and by asking one yes-or-no question to one guard, you can still determine the correct path【turn868652view0†L155-L160】.
You do not know which guard is truthful and which one lies. That’s okay — the strategy works either way.
Use the classic nested question. You can ask about either door:
After hearing the answer, choose the opposite of the door the answer seems to indicate.