Use mq2nav. First some examples, then some logic.
In pok, this will take you to Feerrott stone, zone in.
There are a few ways to go about getting your id. The first, least useful way but still worth noting, is simply typing /door. This will dump all the door objects in your current zone. Sometimes you can pick out the POK stone from this list, though usually the dump is quite large.
Another way is to use the Nav UI (if it's not open, do /nav ui). Click the tools tab. Expand the Objects chevron, click view doors button which opens another window. There are three ways to proceed from here. First, method is to click Type to group all the doors by their type. Almost always, you're looking for the number 58. Then you can discern which one of these contains POK. If you're standing next to the portal, you can click the click button (you can also nav to the door, which will not port you when you use the nav button). If you're in PoK with lots of stones, sometimes it is difficult to discern which portal goes to which zone. In this case, physically go to that portal, stand next to it, click Distance to sort by distance. The closest type 58 to you will be the ID you want to use. At that point, you can do:
Rich (BB code):
/bcaa //nav door id 12 click
This will run everyone to whatever door 12 is (again, check the list and use the one that you need) and click it.
Additionally, when you're in the Tools tab of the MQ2Nav Tools windows, if you tick the Draw Bounding Boxes and All doors visible boxes, you can get a visiable boundry of the door, with your currently targeted door being outlined in green.
After frequent use, you'll have several commonly used IDs memorised making navigation all the faster.
tucker's answer is very very similar to this, which I just read after typing all this out, but mine is different enough for me to submit.
