I think the game already does this. You can have two situations:
1. An NPC is following another. If the first NPC activates a teleport door and goes through, the second one simply approaches and teleports, regardless of door activation or state or anything.
2. Many seperate NPC's are trying to use the same teleport door. Once it is in use, the others will stand there and wait for it to complete, then try to activate it.
Unless I am misunderstanding what you're asking for? NPC's already wait once a teleport door is used, then try a few seconds later to use it.