I was just testing this out a bit and the AI didn't respond for the longest time. Eventually, though, an NPC decided to walk through the doorway after saying something along the lines of, "I'm going to go over here" though I'm not sure if it was in actual response to the door being left open. If not, I am incredibly surprised that the devs didn't add this. It just seems so obvious. I've run into other glaring problems as well such as NPCs not even responding to coming across a broken window. I just find it so annoying that you can be so reckless when sneaking and not having to worry about leaving a trail. It's quite honestly taking a bit of a toll on my enjoyment of the game, unfortunately. Granted, you're supposed to hide bodies, but that's really the only thing that you have to worry about when leaving a room as far as I've noticed. I'm only in the second mission, though, so I'm hopeful that enemies become more observant.
EDIT: This is while playing on very hard mode, by the way.