Can the decals be successfully(without paint damage)removed. They have been on for at least 5 years. The decals I'l like to remove are on the door, if that makes any difference.

 

I have semi trucks and use vinyl decals. I allways use a heat gun or a hair dryer to heat the vinyl and then peel it off. you may have to use a goo-b-gone or some other adhesive remover to clean off left over adhesive. good luck.